Re: [PATCH v4 3/4] iio: ping: add parallax ping sensors

[Jonathan Cameron <jic23@kernel.org>]

On Mon, 25 Nov 2019 09:05:02 +0100
Andreas Klinger <ak@it-klinger.de> wrote:

> Add support for parallax ping and laser ping sensors with just one pin
> for trigger and echo signal.
> 
> This driver is based on srf04. In contrast to it it's necessary to
> change direction of the pin and to request the irq just for the period
> when the echo is rising and falling. Because this adds a lot of cases
> there is this individual driver for handling this type of sensors.
> 
> Add a new configuration variable CONFIG_PING to Kconfig and Makefile.
> 
> Signed-off-by: Andreas Klinger <ak@it-klinger.de>
> Reported-by: kbuild test robot <lkp@intel.com>
> Reported-by: Julia Lawall <julia.lawall@lip6.fr>
Dropped v3 and applied v4.  Added a note on 'what' was reported.

Thanks,

Jonathan

> ---
>  drivers/iio/proximity/Kconfig  |  15 ++
>  drivers/iio/proximity/Makefile |   1 +
>  drivers/iio/proximity/ping.c   | 335 +++++++++++++++++++++++++++++++++++++++++
>  3 files changed, 351 insertions(+)
>  create mode 100644 drivers/iio/proximity/ping.c
> 
> diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
> index d53601447da4..37606d400805 100644
> --- a/drivers/iio/proximity/Kconfig
> +++ b/drivers/iio/proximity/Kconfig
> @@ -58,6 +58,21 @@ config MB1232
>  	  To compile this driver as a module, choose M here: the
>  	  module will be called mb1232.
>  
> +config PING
> +	tristate "Parallax GPIO bitbanged ranger sensors"
> +	depends on GPIOLIB
> +	help
> +	  Say Y here to build a driver for GPIO bitbanged ranger sensors
> +	  with just one GPIO for the trigger and echo. This driver can be
> +	  used to measure the distance of objects.
> +
> +	  Actually supported are:
> +	  - Parallax PING))) (ultrasonic)
> +	  - Parallax LaserPING (time-of-flight)
> +
> +	  To compile this driver as a module, choose M here: the
> +	  module will be called ping.
> +
>  config RFD77402
>  	tristate "RFD77402 ToF sensor"
>  	depends on I2C
> diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile
> index 0bb5f9de13d6..c591b019304e 100644
> --- a/drivers/iio/proximity/Makefile
> +++ b/drivers/iio/proximity/Makefile
> @@ -8,6 +8,7 @@ obj-$(CONFIG_AS3935)		+= as3935.o
>  obj-$(CONFIG_ISL29501)		+= isl29501.o
>  obj-$(CONFIG_LIDAR_LITE_V2)	+= pulsedlight-lidar-lite-v2.o
>  obj-$(CONFIG_MB1232)		+= mb1232.o
> +obj-$(CONFIG_PING)		+= ping.o
>  obj-$(CONFIG_RFD77402)		+= rfd77402.o
>  obj-$(CONFIG_SRF04)		+= srf04.o
>  obj-$(CONFIG_SRF08)		+= srf08.o
> diff --git a/drivers/iio/proximity/ping.c b/drivers/iio/proximity/ping.c
> new file mode 100644
> index 000000000000..34aff108dff5
> --- /dev/null
> +++ b/drivers/iio/proximity/ping.c
> @@ -0,0 +1,335 @@
> +// SPDX-License-Identifier: GPL-2.0-or-later
> +/*
> + * PING: ultrasonic sensor for distance measuring by using only one GPIOs
> + *
> + * Copyright (c) 2019 Andreas Klinger <ak@it-klinger.de>
> + *
> + * For details about the devices see:
> + * http://parallax.com/sites/default/files/downloads/28041-LaserPING-2m-Rangefinder-Guide.pdf
> + * http://parallax.com/sites/default/files/downloads/28015-PING-Documentation-v1.6.pdf
> + *
> + * the measurement cycle as timing diagram looks like:
> + *
> + * GPIO      ___              ________________________
> + * ping:  __/   \____________/                        \________________
> + *          ^   ^            ^                        ^
> + *          |<->|            interrupt                interrupt
> + *         udelay(5)         (ts_rising)              (ts_falling)
> + *                           |<---------------------->|
> + *                           .  pulse time measured   .
> + *                           .  --> one round trip of ultra sonic waves
> + * ultra                     .                        .
> + * sonic            _   _   _.                        .
> + * burst: _________/ \_/ \_/ \_________________________________________
> + *                                                    .
> + * ultra                                              .
> + * sonic                                     _   _   _.
> + * echo:  __________________________________/ \_/ \_/ \________________
> + */
> +#include <linux/err.h>
> +#include <linux/gpio/consumer.h>
> +#include <linux/kernel.h>
> +#include <linux/module.h>
> +#include <linux/of.h>
> +#include <linux/of_device.h>
> +#include <linux/platform_device.h>
> +#include <linux/property.h>
> +#include <linux/sched.h>
> +#include <linux/interrupt.h>
> +#include <linux/delay.h>
> +#include <linux/iio/iio.h>
> +#include <linux/iio/sysfs.h>
> +
> +struct ping_cfg {
> +	unsigned long	trigger_pulse_us;	/* length of trigger pulse */
> +	int		laserping_error;	/* support error code in */
> +						/*   pulse width of laser */
> +						/*   ping sensors */
> +	s64		timeout_ns;		/* timeout in ns */
> +};
> +
> +struct ping_data {
> +	struct device		*dev;
> +	struct gpio_desc	*gpiod_ping;
> +	struct mutex		lock;
> +	int			irqnr;
> +	ktime_t			ts_rising;
> +	ktime_t			ts_falling;
> +	struct completion	rising;
> +	struct completion	falling;
> +	const struct ping_cfg	*cfg;
> +};
> +
> +static const struct ping_cfg pa_ping_cfg = {
> +	.trigger_pulse_us	= 5,
> +	.laserping_error	= 0,
> +	.timeout_ns		= 18500000,	/* 3 meters */
> +};
> +
> +static const struct ping_cfg pa_laser_ping_cfg = {
> +	.trigger_pulse_us	= 5,
> +	.laserping_error	= 1,
> +	.timeout_ns		= 15500000,	/* 2 meters plus error codes */
> +};
> +
> +static irqreturn_t ping_handle_irq(int irq, void *dev_id)
> +{
> +	struct iio_dev *indio_dev = dev_id;
> +	struct ping_data *data = iio_priv(indio_dev);
> +	ktime_t now = ktime_get();
> +
> +	if (gpiod_get_value(data->gpiod_ping)) {
> +		data->ts_rising = now;
> +		complete(&data->rising);
> +	} else {
> +		data->ts_falling = now;
> +		complete(&data->falling);
> +	}
> +
> +	return IRQ_HANDLED;
> +}
> +
> +static int ping_read(struct ping_data *data)
> +{
> +	int ret;
> +	ktime_t ktime_dt;
> +	s64 dt_ns;
> +	u32 time_ns, distance_mm;
> +	struct platform_device *pdev = to_platform_device(data->dev);
> +	struct iio_dev *indio_dev = iio_priv_to_dev(data);
> +
> +	/*
> +	 * just one read-echo-cycle can take place at a time
> +	 * ==> lock against concurrent reading calls
> +	 */
> +	mutex_lock(&data->lock);
> +
> +	reinit_completion(&data->rising);
> +	reinit_completion(&data->falling);
> +
> +	gpiod_set_value(data->gpiod_ping, 1);
> +	udelay(data->cfg->trigger_pulse_us);
> +	gpiod_set_value(data->gpiod_ping, 0);
> +
> +	ret = gpiod_direction_input(data->gpiod_ping);
> +	if (ret < 0) {
> +		mutex_unlock(&data->lock);
> +		return ret;
> +	}
> +
> +	data->irqnr = gpiod_to_irq(data->gpiod_ping);
> +	if (data->irqnr < 0) {
> +		dev_err(data->dev, "gpiod_to_irq: %d\n", data->irqnr);
> +		mutex_unlock(&data->lock);
> +		return data->irqnr;
> +	}
> +
> +	ret = request_irq(data->irqnr, ping_handle_irq,
> +				IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING,
> +							pdev->name, indio_dev);
> +	if (ret < 0) {
> +		dev_err(data->dev, "request_irq: %d\n", ret);
> +		mutex_unlock(&data->lock);
> +		return ret;
> +	}
> +
> +	/* it should not take more than 20 ms until echo is rising */
> +	ret = wait_for_completion_killable_timeout(&data->rising, HZ/50);
> +	if (ret < 0)
> +		goto err_reset_direction;
> +	else if (ret == 0) {
> +		ret = -ETIMEDOUT;
> +		goto err_reset_direction;
> +	}
> +
> +	/* it cannot take more than 50 ms until echo is falling */
> +	ret = wait_for_completion_killable_timeout(&data->falling, HZ/20);
> +	if (ret < 0)
> +		goto err_reset_direction;
> +	else if (ret == 0) {
> +		ret = -ETIMEDOUT;
> +		goto err_reset_direction;
> +	}
> +
> +	ktime_dt = ktime_sub(data->ts_falling, data->ts_rising);
> +
> +	free_irq(data->irqnr, indio_dev);
> +
> +	ret = gpiod_direction_output(data->gpiod_ping, GPIOD_OUT_LOW);
> +	if (ret < 0) {
> +		mutex_unlock(&data->lock);
> +		return ret;
> +	}
> +
> +	mutex_unlock(&data->lock);
> +
> +	dt_ns = ktime_to_ns(ktime_dt);
> +	if (dt_ns > data->cfg->timeout_ns) {
> +		dev_dbg(data->dev, "distance out of range: dt=%lldns\n",
> +								dt_ns);
> +		return -EIO;
> +	}
> +
> +	time_ns = dt_ns;
> +
> +	/*
> +	 * read error code of laser ping sensor and give users chance to
> +	 * figure out error by using dynamic debuggging
> +	 */
> +	if (data->cfg->laserping_error) {
> +		if ((time_ns > 12500000) && (time_ns <= 13500000)) {
> +			dev_dbg(data->dev, "target too close or to far\n");
> +			return -EIO;
> +		}
> +		if ((time_ns > 13500000) && (time_ns <= 14500000)) {
> +			dev_dbg(data->dev, "internal sensor error\n");
> +			return -EIO;
> +		}
> +		if ((time_ns > 14500000) && (time_ns <= 15500000)) {
> +			dev_dbg(data->dev, "internal sensor timeout\n");
> +			return -EIO;
> +		}
> +	}
> +
> +	/*
> +	 * the speed as function of the temperature is approximately:
> +	 *
> +	 * speed = 331,5 + 0,6 * Temp
> +	 *   with Temp in °C
> +	 *   and speed in m/s
> +	 *
> +	 * use 343,5 m/s as ultrasonic speed at 20 °C here in absence of the
> +	 * temperature
> +	 *
> +	 * therefore:
> +	 *             time     343,5     time * 232
> +	 * distance = ------ * ------- = ------------
> +	 *             10^6         2        1350800
> +	 *   with time in ns
> +	 *   and distance in mm (one way)
> +	 *
> +	 * because we limit to 3 meters the multiplication with 232 just
> +	 * fits into 32 bit
> +	 */
> +	distance_mm = time_ns * 232 / 1350800;
> +
> +	return distance_mm;
> +
> +err_reset_direction:
> +	free_irq(data->irqnr, indio_dev);
> +	mutex_unlock(&data->lock);
> +
> +	if (gpiod_direction_output(data->gpiod_ping, GPIOD_OUT_LOW))
> +		dev_dbg(data->dev, "error in gpiod_direction_output\n");
> +	return ret;
> +}
> +
> +static int ping_read_raw(struct iio_dev *indio_dev,
> +			    struct iio_chan_spec const *channel, int *val,
> +			    int *val2, long info)
> +{
> +	struct ping_data *data = iio_priv(indio_dev);
> +	int ret;
> +
> +	if (channel->type != IIO_DISTANCE)
> +		return -EINVAL;
> +
> +	switch (info) {
> +	case IIO_CHAN_INFO_RAW:
> +		ret = ping_read(data);
> +		if (ret < 0)
> +			return ret;
> +		*val = ret;
> +		return IIO_VAL_INT;
> +	case IIO_CHAN_INFO_SCALE:
> +		/*
> +		 * maximum resolution in datasheet is 1 mm
> +		 * 1 LSB is 1 mm
> +		 */
> +		*val = 0;
> +		*val2 = 1000;
> +		return IIO_VAL_INT_PLUS_MICRO;
> +	default:
> +		return -EINVAL;
> +	}
> +}
> +
> +static const struct iio_info ping_iio_info = {
> +	.read_raw		= ping_read_raw,
> +};
> +
> +static const struct iio_chan_spec ping_chan_spec[] = {
> +	{
> +		.type = IIO_DISTANCE,
> +		.info_mask_separate =
> +				BIT(IIO_CHAN_INFO_RAW) |
> +				BIT(IIO_CHAN_INFO_SCALE),
> +	},
> +};
> +
> +static const struct of_device_id of_ping_match[] = {
> +	{ .compatible = "parallax,ping", .data = &pa_ping_cfg},
> +	{ .compatible = "parallax,laserping", .data = &pa_ping_cfg},
> +	{},
> +};
> +
> +MODULE_DEVICE_TABLE(of, of_ping_match);
> +
> +static int ping_probe(struct platform_device *pdev)
> +{
> +	struct device *dev = &pdev->dev;
> +	struct ping_data *data;
> +	struct iio_dev *indio_dev;
> +
> +	indio_dev = devm_iio_device_alloc(dev, sizeof(struct ping_data));
> +	if (!indio_dev) {
> +		dev_err(dev, "failed to allocate IIO device\n");
> +		return -ENOMEM;
> +	}
> +
> +	data = iio_priv(indio_dev);
> +	data->dev = dev;
> +	data->cfg = of_device_get_match_data(dev);
> +
> +	mutex_init(&data->lock);
> +	init_completion(&data->rising);
> +	init_completion(&data->falling);
> +
> +	data->gpiod_ping = devm_gpiod_get(dev, "ping", GPIOD_OUT_LOW);
> +	if (IS_ERR(data->gpiod_ping)) {
> +		dev_err(dev, "failed to get ping-gpios: err=%ld\n",
> +						PTR_ERR(data->gpiod_ping));
> +		return PTR_ERR(data->gpiod_ping);
> +	}
> +
> +	if (gpiod_cansleep(data->gpiod_ping)) {
> +		dev_err(data->dev, "cansleep-GPIOs not supported\n");
> +		return -ENODEV;
> +	}
> +
> +	platform_set_drvdata(pdev, indio_dev);
> +
> +	indio_dev->name = "ping";
> +	indio_dev->dev.parent = &pdev->dev;
> +	indio_dev->info = &ping_iio_info;
> +	indio_dev->modes = INDIO_DIRECT_MODE;
> +	indio_dev->channels = ping_chan_spec;
> +	indio_dev->num_channels = ARRAY_SIZE(ping_chan_spec);
> +
> +	return devm_iio_device_register(dev, indio_dev);
> +}
> +
> +static struct platform_driver ping_driver = {
> +	.probe		= ping_probe,
> +	.driver		= {
> +		.name		= "ping-gpio",
> +		.of_match_table	= of_ping_match,
> +	},
> +};
> +
> +module_platform_driver(ping_driver);
> +
> +MODULE_AUTHOR("Andreas Klinger <ak@it-klinger.de>");
> +MODULE_DESCRIPTION("PING sensors for distance measuring using one GPIOs");
> +MODULE_LICENSE("GPL");
> +MODULE_ALIAS("platform:ping");