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; 107 108 ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1); 109 if (ret < 0) 110 return ret; 111 112 if (data->client->irq) { 113 reinit_completion(&data->completion); 114 115 ret = wait_for_completion_timeout(&data->completion, HZ/10); 116 if (ret < 0) 117 return ret; 118 else if (ret == 0) 119 return -ETIMEDOUT; 120 121 vl53l0x_clear_irq(data); 122 } else { 123 do { 124 ret = i2c_smbus_read_byte_data(client, 125 VL_REG_RESULT_RANGE_STATUS); 126 if (ret < 0) 127 return ret; 128 129 if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE) 130 break; 131 132 usleep_range(1000, 5000); 133 } while (--tries); 134 if (!tries) 135 return -ETIMEDOUT; 136 } 137 138 ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS, 139 12, buffer); 140 if (ret < 0) 141 return ret; 142 else if (ret != 12) 143 return -EREMOTEIO; 144 145 /* Values should be between 30~1200 in millimeters. */ 146 *val = (buffer[10] << 8) + buffer[11]; 147 148 return 0; 149 } 150 151 static const struct iio_chan_spec vl53l0x_channels[] = { 152 { 153 .type = IIO_DISTANCE, 154 .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | 155 BIT(IIO_CHAN_INFO_SCALE), 156 }, 157 }; 158 159 static int vl53l0x_read_raw(struct iio_dev *indio_dev, 160 const struct iio_chan_spec *chan, 161 int *val, int *val2, long mask) 162 { 163 struct vl53l0x_data *data = iio_priv(indio_dev); 164 int ret; 165 166 if (chan->type != IIO_DISTANCE) 167 return -EINVAL; 168 169 switch (mask) { 170 case IIO_CHAN_INFO_RAW: 171 ret = vl53l0x_read_proximity(data, chan, val); 172 if (ret < 0) 173 return ret; 174 175 return IIO_VAL_INT; 176 case IIO_CHAN_INFO_SCALE: 177 *val = 0; 178 *val2 = 1000; 179 180 return IIO_VAL_INT_PLUS_MICRO; 181 default: 182 return -EINVAL; 183 } 184 } 185 186 static const struct iio_info vl53l0x_info = { 187 .read_raw = vl53l0x_read_raw, 188 }; 189 190 static int vl53l0x_probe(struct i2c_client *client) 191 { 192 struct vl53l0x_data *data; 193 struct iio_dev *indio_dev; 194 195 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); 196 if (!indio_dev) 197 return -ENOMEM; 198 199 data = iio_priv(indio_dev); 200 data->client = client; 201 i2c_set_clientdata(client, indio_dev); 202 203 if (!i2c_check_functionality(client->adapter, 204 I2C_FUNC_SMBUS_READ_I2C_BLOCK | 205 I2C_FUNC_SMBUS_BYTE_DATA)) 206 return -EOPNOTSUPP; 207 208 indio_dev->name = "vl53l0x"; 209 indio_dev->info = &vl53l0x_info; 210 indio_dev->channels = vl53l0x_channels; 211 indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels); 212 indio_dev->modes = INDIO_DIRECT_MODE; 213 214 /* usage of interrupt is optional */ 215 if (client->irq) { 216 int ret; 217 218 init_completion(&data->completion); 219 220 ret = vl53l0x_configure_irq(client, indio_dev); 221 if (ret) 222 return ret; 223 } 224 225 return devm_iio_device_register(&client->dev, indio_dev); 226 } 227 228 static const struct of_device_id st_vl53l0x_dt_match[] = { 229 { .compatible = "st,vl53l0x", }, 230 { } 231 }; 232 MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match); 233 234 static struct i2c_driver vl53l0x_driver = { 235 .driver = { 236 .name = "vl53l0x-i2c", 237 .of_match_table = st_vl53l0x_dt_match, 238 }, 239 .probe_new = vl53l0x_probe, 240 }; 241 module_i2c_driver(vl53l0x_driver); 242 243 MODULE_AUTHOR("Song Qiang <songqiang1304521@gmail.com>"); 244 MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver"); 245 MODULE_LICENSE("GPL v2"); 246