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 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" }, 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