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/i2c.h> 19 #include <linux/interrupt.h> 20 #include <linux/module.h> 21 22 #include <linux/iio/iio.h> 23 24 #define VL_REG_SYSRANGE_START 0x00 25 26 #define VL_REG_SYSRANGE_MODE_MASK GENMASK(3, 0) 27 #define VL_REG_SYSRANGE_MODE_SINGLESHOT 0x00 28 #define VL_REG_SYSRANGE_MODE_START_STOP BIT(0) 29 #define VL_REG_SYSRANGE_MODE_BACKTOBACK BIT(1) 30 #define VL_REG_SYSRANGE_MODE_TIMED BIT(2) 31 #define VL_REG_SYSRANGE_MODE_HISTOGRAM BIT(3) 32 33 #define VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A 34 #define VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY BIT(2) 35 36 #define VL_REG_SYSTEM_INTERRUPT_CLEAR 0x0B 37 38 #define VL_REG_RESULT_INT_STATUS 0x13 39 #define VL_REG_RESULT_RANGE_STATUS 0x14 40 #define VL_REG_RESULT_RANGE_STATUS_COMPLETE BIT(0) 41 42 struct vl53l0x_data { 43 struct i2c_client *client; 44 struct completion completion; 45 }; 46 47 static irqreturn_t vl53l0x_handle_irq(int irq, void *priv) 48 { 49 struct iio_dev *indio_dev = priv; 50 struct vl53l0x_data *data = iio_priv(indio_dev); 51 52 complete(&data->completion); 53 54 return IRQ_HANDLED; 55 } 56 57 static int vl53l0x_configure_irq(struct i2c_client *client, 58 struct iio_dev *indio_dev) 59 { 60 struct vl53l0x_data *data = iio_priv(indio_dev); 61 int ret; 62 63 ret = devm_request_irq(&client->dev, client->irq, vl53l0x_handle_irq, 64 IRQF_TRIGGER_FALLING, indio_dev->name, indio_dev); 65 if (ret) { 66 dev_err(&client->dev, "devm_request_irq error: %d\n", ret); 67 return ret; 68 } 69 70 ret = i2c_smbus_write_byte_data(data->client, 71 VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, 72 VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); 73 if (ret < 0) 74 dev_err(&client->dev, "failed to configure IRQ: %d\n", ret); 75 76 return ret; 77 } 78 79 static void vl53l0x_clear_irq(struct vl53l0x_data *data) 80 { 81 struct device *dev = &data->client->dev; 82 int ret; 83 84 ret = i2c_smbus_write_byte_data(data->client, 85 VL_REG_SYSTEM_INTERRUPT_CLEAR, 1); 86 if (ret < 0) 87 dev_err(dev, "failed to clear error irq: %d\n", ret); 88 89 ret = i2c_smbus_write_byte_data(data->client, 90 VL_REG_SYSTEM_INTERRUPT_CLEAR, 0); 91 if (ret < 0) 92 dev_err(dev, "failed to clear range irq: %d\n", ret); 93 94 ret = i2c_smbus_read_byte_data(data->client, VL_REG_RESULT_INT_STATUS); 95 if (ret < 0 || ret & 0x07) 96 dev_err(dev, "failed to clear irq: %d\n", ret); 97 } 98 99 static int vl53l0x_read_proximity(struct vl53l0x_data *data, 100 const struct iio_chan_spec *chan, 101 int *val) 102 { 103 struct i2c_client *client = data->client; 104 u16 tries = 20; 105 u8 buffer[12]; 106 int ret; 107 unsigned long time_left; 108 109 ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1); 110 if (ret < 0) 111 return ret; 112 113 if (data->client->irq) { 114 reinit_completion(&data->completion); 115 116 time_left = wait_for_completion_timeout(&data->completion, HZ/10); 117 if (time_left == 0) 118 return -ETIMEDOUT; 119 120 vl53l0x_clear_irq(data); 121 } else { 122 do { 123 ret = i2c_smbus_read_byte_data(client, 124 VL_REG_RESULT_RANGE_STATUS); 125 if (ret < 0) 126 return ret; 127 128 if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE) 129 break; 130 131 usleep_range(1000, 5000); 132 } while (--tries); 133 if (!tries) 134 return -ETIMEDOUT; 135 } 136 137 ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS, 138 12, buffer); 139 if (ret < 0) 140 return ret; 141 else if (ret != 12) 142 return -EREMOTEIO; 143 144 /* Values should be between 30~1200 in millimeters. */ 145 *val = (buffer[10] << 8) + buffer[11]; 146 147 return 0; 148 } 149 150 static const struct iio_chan_spec vl53l0x_channels[] = { 151 { 152 .type = IIO_DISTANCE, 153 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 154 BIT(IIO_CHAN_INFO_SCALE), 155 }, 156 }; 157 158 static int vl53l0x_read_raw(struct iio_dev *indio_dev, 159 const struct iio_chan_spec *chan, 160 int *val, int *val2, long mask) 161 { 162 struct vl53l0x_data *data = iio_priv(indio_dev); 163 int ret; 164 165 if (chan->type != IIO_DISTANCE) 166 return -EINVAL; 167 168 switch (mask) { 169 case IIO_CHAN_INFO_RAW: 170 ret = vl53l0x_read_proximity(data, chan, val); 171 if (ret < 0) 172 return ret; 173 174 return IIO_VAL_INT; 175 case IIO_CHAN_INFO_SCALE: 176 *val = 0; 177 *val2 = 1000; 178 179 return IIO_VAL_INT_PLUS_MICRO; 180 default: 181 return -EINVAL; 182 } 183 } 184 185 static const struct iio_info vl53l0x_info = { 186 .read_raw = vl53l0x_read_raw, 187 }; 188 189 static int vl53l0x_probe(struct i2c_client *client) 190 { 191 struct vl53l0x_data *data; 192 struct iio_dev *indio_dev; 193 194 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); 195 if (!indio_dev) 196 return -ENOMEM; 197 198 data = iio_priv(indio_dev); 199 data->client = client; 200 i2c_set_clientdata(client, indio_dev); 201 202 if (!i2c_check_functionality(client->adapter, 203 I2C_FUNC_SMBUS_READ_I2C_BLOCK | 204 I2C_FUNC_SMBUS_BYTE_DATA)) 205 return -EOPNOTSUPP; 206 207 indio_dev->name = "vl53l0x"; 208 indio_dev->info = &vl53l0x_info; 209 indio_dev->channels = vl53l0x_channels; 210 indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels); 211 indio_dev->modes = INDIO_DIRECT_MODE; 212 213 /* usage of interrupt is optional */ 214 if (client->irq) { 215 int ret; 216 217 init_completion(&data->completion); 218 219 ret = vl53l0x_configure_irq(client, indio_dev); 220 if (ret) 221 return ret; 222 } 223 224 return devm_iio_device_register(&client->dev, indio_dev); 225 } 226 227 static const struct i2c_device_id vl53l0x_id[] = { 228 { "vl53l0x", 0 }, 229 { } 230 }; 231 MODULE_DEVICE_TABLE(i2c, vl53l0x_id); 232 233 static const struct of_device_id st_vl53l0x_dt_match[] = { 234 { .compatible = "st,vl53l0x", }, 235 { } 236 }; 237 MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match); 238 239 static struct i2c_driver vl53l0x_driver = { 240 .driver = { 241 .name = "vl53l0x-i2c", 242 .of_match_table = st_vl53l0x_dt_match, 243 }, 244 .probe_new = vl53l0x_probe, 245 .id_table = vl53l0x_id, 246 }; 247 module_i2c_driver(vl53l0x_driver); 248 249 MODULE_AUTHOR("Song Qiang <songqiang1304521@gmail.com>"); 250 MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver"); 251 MODULE_LICENSE("GPL v2"); 252