1 // SPDX-License-Identifier: GPL-2.0-or-later 2 /* 3 * SRF04: ultrasonic sensor for distance measuring by using GPIOs 4 * 5 * Copyright (c) 2017 Andreas Klinger <ak@it-klinger.de> 6 * 7 * For details about the device see: 8 * https://www.robot-electronics.co.uk/htm/srf04tech.htm 9 * 10 * the measurement cycle as timing diagram looks like: 11 * 12 * +---+ 13 * GPIO | | 14 * trig: --+ +------------------------------------------------------ 15 * ^ ^ 16 * |<->| 17 * udelay(trigger_pulse_us) 18 * 19 * ultra +-+ +-+ +-+ 20 * sonic | | | | | | 21 * burst: ---------+ +-+ +-+ +----------------------------------------- 22 * . 23 * ultra . +-+ +-+ +-+ 24 * sonic . | | | | | | 25 * echo: ----------------------------------+ +-+ +-+ +---------------- 26 * . . 27 * +------------------------+ 28 * GPIO | | 29 * echo: -------------------+ +--------------- 30 * ^ ^ 31 * interrupt interrupt 32 * (ts_rising) (ts_falling) 33 * |<---------------------->| 34 * pulse time measured 35 * --> one round trip of ultra sonic waves 36 */ 37 #include <linux/err.h> 38 #include <linux/gpio/consumer.h> 39 #include <linux/kernel.h> 40 #include <linux/module.h> 41 #include <linux/of.h> 42 #include <linux/of_device.h> 43 #include <linux/platform_device.h> 44 #include <linux/property.h> 45 #include <linux/sched.h> 46 #include <linux/interrupt.h> 47 #include <linux/delay.h> 48 #include <linux/pm_runtime.h> 49 #include <linux/iio/iio.h> 50 #include <linux/iio/sysfs.h> 51 52 struct srf04_cfg { 53 unsigned long trigger_pulse_us; 54 }; 55 56 struct srf04_data { 57 struct device *dev; 58 struct gpio_desc *gpiod_trig; 59 struct gpio_desc *gpiod_echo; 60 struct gpio_desc *gpiod_power; 61 struct mutex lock; 62 int irqnr; 63 ktime_t ts_rising; 64 ktime_t ts_falling; 65 struct completion rising; 66 struct completion falling; 67 const struct srf04_cfg *cfg; 68 int startup_time_ms; 69 }; 70 71 static const struct srf04_cfg srf04_cfg = { 72 .trigger_pulse_us = 10, 73 }; 74 75 static const struct srf04_cfg mb_lv_cfg = { 76 .trigger_pulse_us = 20, 77 }; 78 79 static irqreturn_t srf04_handle_irq(int irq, void *dev_id) 80 { 81 struct iio_dev *indio_dev = dev_id; 82 struct srf04_data *data = iio_priv(indio_dev); 83 ktime_t now = ktime_get(); 84 85 if (gpiod_get_value(data->gpiod_echo)) { 86 data->ts_rising = now; 87 complete(&data->rising); 88 } else { 89 data->ts_falling = now; 90 complete(&data->falling); 91 } 92 93 return IRQ_HANDLED; 94 } 95 96 static int srf04_read(struct srf04_data *data) 97 { 98 int ret; 99 ktime_t ktime_dt; 100 u64 dt_ns; 101 u32 time_ns, distance_mm; 102 103 if (data->gpiod_power) { 104 ret = pm_runtime_resume_and_get(data->dev); 105 if (ret < 0) 106 return ret; 107 } 108 /* 109 * just one read-echo-cycle can take place at a time 110 * ==> lock against concurrent reading calls 111 */ 112 mutex_lock(&data->lock); 113 114 reinit_completion(&data->rising); 115 reinit_completion(&data->falling); 116 117 gpiod_set_value(data->gpiod_trig, 1); 118 udelay(data->cfg->trigger_pulse_us); 119 gpiod_set_value(data->gpiod_trig, 0); 120 121 if (data->gpiod_power) { 122 pm_runtime_mark_last_busy(data->dev); 123 pm_runtime_put_autosuspend(data->dev); 124 } 125 126 /* it should not take more than 20 ms until echo is rising */ 127 ret = wait_for_completion_killable_timeout(&data->rising, HZ/50); 128 if (ret < 0) { 129 mutex_unlock(&data->lock); 130 return ret; 131 } else if (ret == 0) { 132 mutex_unlock(&data->lock); 133 return -ETIMEDOUT; 134 } 135 136 /* it cannot take more than 50 ms until echo is falling */ 137 ret = wait_for_completion_killable_timeout(&data->falling, HZ/20); 138 if (ret < 0) { 139 mutex_unlock(&data->lock); 140 return ret; 141 } else if (ret == 0) { 142 mutex_unlock(&data->lock); 143 return -ETIMEDOUT; 144 } 145 146 ktime_dt = ktime_sub(data->ts_falling, data->ts_rising); 147 148 mutex_unlock(&data->lock); 149 150 dt_ns = ktime_to_ns(ktime_dt); 151 /* 152 * measuring more than 6,45 meters is beyond the capabilities of 153 * the supported sensors 154 * ==> filter out invalid results for not measuring echos of 155 * another us sensor 156 * 157 * formula: 158 * distance 6,45 * 2 m 159 * time = ---------- = ------------ = 40438871 ns 160 * speed 319 m/s 161 * 162 * using a minimum speed at -20 °C of 319 m/s 163 */ 164 if (dt_ns > 40438871) 165 return -EIO; 166 167 time_ns = dt_ns; 168 169 /* 170 * the speed as function of the temperature is approximately: 171 * 172 * speed = 331,5 + 0,6 * Temp 173 * with Temp in °C 174 * and speed in m/s 175 * 176 * use 343,5 m/s as ultrasonic speed at 20 °C here in absence of the 177 * temperature 178 * 179 * therefore: 180 * time 343,5 time * 106 181 * distance = ------ * ------- = ------------ 182 * 10^6 2 617176 183 * with time in ns 184 * and distance in mm (one way) 185 * 186 * because we limit to 6,45 meters the multiplication with 106 just 187 * fits into 32 bit 188 */ 189 distance_mm = time_ns * 106 / 617176; 190 191 return distance_mm; 192 } 193 194 static int srf04_read_raw(struct iio_dev *indio_dev, 195 struct iio_chan_spec const *channel, int *val, 196 int *val2, long info) 197 { 198 struct srf04_data *data = iio_priv(indio_dev); 199 int ret; 200 201 if (channel->type != IIO_DISTANCE) 202 return -EINVAL; 203 204 switch (info) { 205 case IIO_CHAN_INFO_RAW: 206 ret = srf04_read(data); 207 if (ret < 0) 208 return ret; 209 *val = ret; 210 return IIO_VAL_INT; 211 case IIO_CHAN_INFO_SCALE: 212 /* 213 * theoretical maximum resolution is 3 mm 214 * 1 LSB is 1 mm 215 */ 216 *val = 0; 217 *val2 = 1000; 218 return IIO_VAL_INT_PLUS_MICRO; 219 default: 220 return -EINVAL; 221 } 222 } 223 224 static const struct iio_info srf04_iio_info = { 225 .read_raw = srf04_read_raw, 226 }; 227 228 static const struct iio_chan_spec srf04_chan_spec[] = { 229 { 230 .type = IIO_DISTANCE, 231 .info_mask_separate = 232 BIT(IIO_CHAN_INFO_RAW) | 233 BIT(IIO_CHAN_INFO_SCALE), 234 }, 235 }; 236 237 static const struct of_device_id of_srf04_match[] = { 238 { .compatible = "devantech,srf04", .data = &srf04_cfg }, 239 { .compatible = "maxbotix,mb1000", .data = &mb_lv_cfg }, 240 { .compatible = "maxbotix,mb1010", .data = &mb_lv_cfg }, 241 { .compatible = "maxbotix,mb1020", .data = &mb_lv_cfg }, 242 { .compatible = "maxbotix,mb1030", .data = &mb_lv_cfg }, 243 { .compatible = "maxbotix,mb1040", .data = &mb_lv_cfg }, 244 {}, 245 }; 246 247 MODULE_DEVICE_TABLE(of, of_srf04_match); 248 249 static int srf04_probe(struct platform_device *pdev) 250 { 251 struct device *dev = &pdev->dev; 252 struct srf04_data *data; 253 struct iio_dev *indio_dev; 254 int ret; 255 256 indio_dev = devm_iio_device_alloc(dev, sizeof(struct srf04_data)); 257 if (!indio_dev) { 258 dev_err(dev, "failed to allocate IIO device\n"); 259 return -ENOMEM; 260 } 261 262 data = iio_priv(indio_dev); 263 data->dev = dev; 264 data->cfg = of_match_device(of_srf04_match, dev)->data; 265 266 mutex_init(&data->lock); 267 init_completion(&data->rising); 268 init_completion(&data->falling); 269 270 data->gpiod_trig = devm_gpiod_get(dev, "trig", GPIOD_OUT_LOW); 271 if (IS_ERR(data->gpiod_trig)) { 272 dev_err(dev, "failed to get trig-gpios: err=%ld\n", 273 PTR_ERR(data->gpiod_trig)); 274 return PTR_ERR(data->gpiod_trig); 275 } 276 277 data->gpiod_echo = devm_gpiod_get(dev, "echo", GPIOD_IN); 278 if (IS_ERR(data->gpiod_echo)) { 279 dev_err(dev, "failed to get echo-gpios: err=%ld\n", 280 PTR_ERR(data->gpiod_echo)); 281 return PTR_ERR(data->gpiod_echo); 282 } 283 284 data->gpiod_power = devm_gpiod_get_optional(dev, "power", 285 GPIOD_OUT_LOW); 286 if (IS_ERR(data->gpiod_power)) { 287 dev_err(dev, "failed to get power-gpios: err=%ld\n", 288 PTR_ERR(data->gpiod_power)); 289 return PTR_ERR(data->gpiod_power); 290 } 291 if (data->gpiod_power) { 292 293 if (of_property_read_u32(dev->of_node, "startup-time-ms", 294 &data->startup_time_ms)) 295 data->startup_time_ms = 100; 296 dev_dbg(dev, "using power gpio: startup-time-ms=%d\n", 297 data->startup_time_ms); 298 } 299 300 if (gpiod_cansleep(data->gpiod_echo)) { 301 dev_err(data->dev, "cansleep-GPIOs not supported\n"); 302 return -ENODEV; 303 } 304 305 data->irqnr = gpiod_to_irq(data->gpiod_echo); 306 if (data->irqnr < 0) { 307 dev_err(data->dev, "gpiod_to_irq: %d\n", data->irqnr); 308 return data->irqnr; 309 } 310 311 ret = devm_request_irq(dev, data->irqnr, srf04_handle_irq, 312 IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING, 313 pdev->name, indio_dev); 314 if (ret < 0) { 315 dev_err(data->dev, "request_irq: %d\n", ret); 316 return ret; 317 } 318 319 platform_set_drvdata(pdev, indio_dev); 320 321 indio_dev->name = "srf04"; 322 indio_dev->info = &srf04_iio_info; 323 indio_dev->modes = INDIO_DIRECT_MODE; 324 indio_dev->channels = srf04_chan_spec; 325 indio_dev->num_channels = ARRAY_SIZE(srf04_chan_spec); 326 327 ret = iio_device_register(indio_dev); 328 if (ret < 0) { 329 dev_err(data->dev, "iio_device_register: %d\n", ret); 330 return ret; 331 } 332 333 if (data->gpiod_power) { 334 pm_runtime_set_autosuspend_delay(data->dev, 1000); 335 pm_runtime_use_autosuspend(data->dev); 336 337 ret = pm_runtime_set_active(data->dev); 338 if (ret) { 339 dev_err(data->dev, "pm_runtime_set_active: %d\n", ret); 340 iio_device_unregister(indio_dev); 341 } 342 343 pm_runtime_enable(data->dev); 344 pm_runtime_idle(data->dev); 345 } 346 347 return ret; 348 } 349 350 static int srf04_remove(struct platform_device *pdev) 351 { 352 struct iio_dev *indio_dev = platform_get_drvdata(pdev); 353 struct srf04_data *data = iio_priv(indio_dev); 354 355 iio_device_unregister(indio_dev); 356 357 if (data->gpiod_power) { 358 pm_runtime_disable(data->dev); 359 pm_runtime_set_suspended(data->dev); 360 } 361 362 return 0; 363 } 364 365 static int __maybe_unused srf04_pm_runtime_suspend(struct device *dev) 366 { 367 struct platform_device *pdev = container_of(dev, 368 struct platform_device, dev); 369 struct iio_dev *indio_dev = platform_get_drvdata(pdev); 370 struct srf04_data *data = iio_priv(indio_dev); 371 372 gpiod_set_value(data->gpiod_power, 0); 373 374 return 0; 375 } 376 377 static int __maybe_unused srf04_pm_runtime_resume(struct device *dev) 378 { 379 struct platform_device *pdev = container_of(dev, 380 struct platform_device, dev); 381 struct iio_dev *indio_dev = platform_get_drvdata(pdev); 382 struct srf04_data *data = iio_priv(indio_dev); 383 384 gpiod_set_value(data->gpiod_power, 1); 385 msleep(data->startup_time_ms); 386 387 return 0; 388 } 389 390 static const struct dev_pm_ops srf04_pm_ops = { 391 SET_RUNTIME_PM_OPS(srf04_pm_runtime_suspend, 392 srf04_pm_runtime_resume, NULL) 393 }; 394 395 static struct platform_driver srf04_driver = { 396 .probe = srf04_probe, 397 .remove = srf04_remove, 398 .driver = { 399 .name = "srf04-gpio", 400 .of_match_table = of_srf04_match, 401 .pm = &srf04_pm_ops, 402 }, 403 }; 404 405 module_platform_driver(srf04_driver); 406 407 MODULE_AUTHOR("Andreas Klinger <ak@it-klinger.de>"); 408 MODULE_DESCRIPTION("SRF04 ultrasonic sensor for distance measuring using GPIOs"); 409 MODULE_LICENSE("GPL"); 410 MODULE_ALIAS("platform:srf04"); 411