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Message-ID: <20180910175747.GA5883@himanshu-Vostro-3559> References: <20180910144259.1339-1-songqiang.1304521@gmail.com> MIME-Version: 1.0 Content-Type: text/plain; charset=us-ascii Content-Disposition: inline In-Reply-To: <20180910144259.1339-1-songqiang.1304521@gmail.com> User-Agent: Mutt/1.9.4 (2018-02-28) Sender: linux-kernel-owner@vger.kernel.org Precedence: bulk List-ID: X-Mailing-List: linux-kernel@vger.kernel.org On Mon, Sep 10, 2018 at 10:42:59PM +0800, Song Qiang wrote: > This driver was originally written by ST in 2016 as a misc input device, > and hasn't been maintained for a long time. I grabbed some code from > it's API and reformed it to a iio proximity device driver. > This version of driver uses i2c bus to talk to the sensor and > polling for measuring completes, so no irq line is needed. > This version of driver supports only one-shot mode, and it can be > tested with reading from > /sys/bus/iio/devices/iio:deviceX/in_distance_raw > > Signed-off-by: Song Qiang > --- The Cc list contains developers who might not be relevant for the discussion. So, copy only those people listed by: $./scripts/get_maintainer.pl Don't know why Kate & Greg are cc'ed ? > .../bindings/iio/proximity/vl53l0x.txt | 12 + > drivers/iio/proximity/Kconfig | 13 + > drivers/iio/proximity/Makefile | 2 + > drivers/iio/proximity/vl53l0x-i2c.c | 295 ++++++++++++++++++ > 4 files changed, 322 insertions(+) > create mode 100644 Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt > create mode 100644 drivers/iio/proximity/vl53l0x-i2c.c > > diff --git a/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt > new file mode 100644 > index 000000000000..64b69442f08e > --- /dev/null > +++ b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt > @@ -0,0 +1,12 @@ > +ST's VL53L0X ToF ranging sensor > + > +Required properties: > + - compatible: must be "st,vl53l0x-i2c" > + - reg: i2c address where to find the device > + > +Example: > + > +vl53l0x@29 { > + compatible = "st,vl53l0x-i2c"; > + reg = <0x29>; > +}; > diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig > index f726f9427602..1563a5f9144d 100644 > --- a/drivers/iio/proximity/Kconfig > +++ b/drivers/iio/proximity/Kconfig > @@ -79,4 +79,17 @@ config SRF08 > To compile this driver as a module, choose M here: the > module will be called srf08. > > +config VL53L0X_I2C > + tristate "STMicroelectronics VL53L0X ToF ranger sensor (I2C)" > + select IIO_BUFFER > + select IIO_TRIGGERED_BUFFER I don't see any buffer/trigger support, so better to remove these two options. > + depends on I2C > + help > + Say Y here to build a driver for STMicroelectronics VL53L0X > + ToF ranger sensors with i2c interface. > + This driver can be used to measure the distance of objects. > + > + To compile this driver as a module, choose M here: the > + module will be called vl53l0x-i2c. `name` attribute will be VL53L0X_DRV_NAME(vl53l0x) if OF matching is not used to probe the driver. > endmenu > diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile > index 4f4ed45e87ef..7cb771665c8b 100644 > --- a/drivers/iio/proximity/Makefile > +++ b/drivers/iio/proximity/Makefile > @@ -10,3 +10,5 @@ obj-$(CONFIG_RFD77402) += rfd77402.o > obj-$(CONFIG_SRF04) += srf04.o > obj-$(CONFIG_SRF08) += srf08.o > obj-$(CONFIG_SX9500) += sx9500.o > +obj-$(CONFIG_VL53L0X_I2C) += vl53l0x-i2c.o > + > diff --git a/drivers/iio/proximity/vl53l0x-i2c.c b/drivers/iio/proximity/vl53l0x-i2c.c > new file mode 100644 > index 000000000000..c00713041d30 > --- /dev/null > +++ b/drivers/iio/proximity/vl53l0x-i2c.c > @@ -0,0 +1,295 @@ > +// SPDX-License-Identifier: GPL-2.0+ > +/* > + * vl53l0x-i2c.c - Support for STM VL53L0X FlightSense TOF > + * Ranger Sensor on a i2c bus. > + * > + * Copyright (C) 2016 STMicroelectronics Imaging Division. > + * Copyright (C) 2018 Song Qiang > + * > + */ > + > +#include > +#include > +#include > +#include > +#include > +#include > + > +#define VL53L0X_DRV_NAME "vl53l0x" > + > +/* Device register map */ > +#define VL_REG_SYSRANGE_START 0x000 > +#define VL_REG_SYSRANGE_MODE_MASK 0x0F > +#define VL_REG_SYSRANGE_MODE_START_STOP 0x01 > +#define VL_REG_SYSRANGE_MODE_SINGLESHOT 0x00 > +#define VL_REG_SYSRANGE_MODE_BACKTOBACK 0x02 > +#define VL_REG_SYSRANGE_MODE_TIMED 0x04 > +#define VL_REG_SYSRANGE_MODE_HISTOGRAM 0x08 > + > +#define VL_REG_SYS_THRESH_HIGH 0x000C > +#define VL_REG_SYS_THRESH_LOW 0x000E > + > +#define VL_REG_SYS_SEQUENCE_CFG 0x0001 > +#define VL_REG_SYS_RANGE_CFG 0x0009 > +#define VL_REG_SYS_INTERMEASUREMENT_PERIOD 0x0004 Could you please align all these macros properly. > +#define VL_REG_SYS_INT_CFG_GPIO 0x000A > +#define VL_REG_SYS_INT_GPIO_DISABLED 0x00 > +#define VL_REG_SYS_INT_GPIO_LEVEL_LOW 0x01 > +#define VL_REG_SYS_INT_GPIO_LEVEL_HIGH 0x02 > +#define VL_REG_SYS_INT_GPIO_OUT_OF_WINDOW 0x03 > +#define VL_REG_SYS_INT_GPIO_NEW_SAMPLE_READY 0x04 > +#define VL_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084 > +#define VL_REG_SYS_INT_CLEAR 0x000B > + > +/* Result registers */ > +#define VL_REG_RESULT_INT_STATUS 0x0013 > +#define VL_REG_RESULT_RANGE_STATUS 0x0014 > + > +#define VL_REG_RESULT_CORE_PAGE 1 > +#define VL_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC > +#define VL_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0 > +#define VL_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0 > +#define VL_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4 > +#define VL_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6 > + > +/* Algo register */ > +#define VL_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028 > + > +#define VL_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a > + > +/* Check Limit registers */ > +#define VL_REG_MSRC_CFG_CONTROL 0x0060 > + > +#define VL_REG_PRE_RANGE_CFG_MIN_SNR 0X0027 > +#define VL_REG_PRE_RANGE_CFG_VALID_PHASE_LOW 0x0056 > +#define VL_REG_PRE_RANGE_CFG_VALID_PHASE_HIGH 0x0057 > +#define VL_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064 > + > +#define VL_REG_FINAL_RANGE_CFG_MIN_SNR 0X0067 > +#define VL_REG_FINAL_RANGE_CFG_VALID_PHASE_LOW 0x0047 > +#define VL_REG_FINAL_RANGE_CFG_VALID_PHASE_HIGH 0x0048 > +#define VL_REG_FINAL_RANGE_CFG_MIN_COUNT_RATE_RTN_LIMIT 0x0044 > + > +#define VL_REG_PRE_RANGE_CFG_SIGMA_THRESH_HI 0X0061 > +#define VL_REG_PRE_RANGE_CFG_SIGMA_THRESH_LO 0X0062 > + > +/* PRE RANGE registers */ > +#define VL_REG_PRE_RANGE_CFG_VCSEL_PERIOD 0x0050 > +#define VL_REG_PRE_RANGE_CFG_TIMEOUT_MACROP_HI 0x0051 > +#define VL_REG_PRE_RANGE_CFG_TIMEOUT_MACROP_LO 0x0052 > + > +#define VL_REG_SYS_HISTOGRAM_BIN 0x0081 > +#define VL_REG_HISTOGRAM_CFG_INITIAL_PHASE_SELECT 0x0033 > +#define VL_REG_HISTOGRAM_CFG_READOUT_CTRL 0x0055 > + > +#define VL_REG_FINAL_RANGE_CFG_VCSEL_PERIOD 0x0070 > +#define VL_REG_FINAL_RANGE_CFG_TIMEOUT_MACROP_HI 0x0071 > +#define VL_REG_FINAL_RANGE_CFG_TIMEOUT_MACROP_LO 0x0072 > +#define VL_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020 > + > +#define VL_REG_MSRC_CFG_TIMEOUT_MACROP 0x0046 > + > +#define VL_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf > +#define VL_REG_IDENTIFICATION_MODEL_ID 0x00c0 > +#define VL_REG_IDENTIFICATION_REVISION_ID 0x00c2 > + > +#define VL_REG_OSC_CALIBRATE_VAL 0x00f8 > + > +#define VL_SIGMA_ESTIMATE_MAX_VALUE 65535 > +/* equivalent to a range sigma of 655.35mm */ > + > +#define VL_REG_GLOBAL_CFG_VCSEL_WIDTH 0x032 > +#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_0 0x0B0 > +#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_1 0x0B1 > +#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_2 0x0B2 > +#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_3 0x0B3 > +#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_4 0x0B4 > +#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_5 0x0B5 > +#define VL_REG_GLOBAL_CFG_REF_EN_START_SELECT 0xB6 > +#define VL_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */ > +#define VL_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */ > +#define VL_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80 > + > +/* > + * Speed of light in um per 1E-10 Seconds > + */ > +#define VL_SPEED_OF_LIGHT_IN_AIR 2997 > +#define VL_REG_VHV_CFG_PAD_SCL_SDA__EXTSUP_HV 0x0089 > +#define VL_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */ > +#define VL_REG_ALGO_PHASECAL_CFG_TIMEOUT 0x0030 > + > +struct vl53l0x_data { > + struct i2c_client *client; > + struct mutex lock; This lock needs a comment to explain its purpose. > + int useLongRange; Weird spacing. > + > +static int vl53l0x_read_proximity(struct vl53l0x_data *data, > + const struct iio_chan_spec *chan, > + int *val) Align all these functions to match open parentheses with mix of tabs + whitespaces(as required): static int vl53l0x_read_proximity(struct vl53l0x_data *data, const struct iio_chan_spec *chan, int *val) > + int ret; > + struct i2c_client *client = data->client; > + int tries = 20; > + u8 buffer[12]; > + struct i2c_msg msg[2]; > + u8 write_command = VL_REG_RESULT_RANGE_STATUS; > + > + ret = i2c_smbus_write_byte_data(data->client, > + VL_REG_SYSRANGE_START, 1); > + if (ret < 0) > + return ret; > + > + while (tries-- > 0) { > + ret = i2c_smbus_read_byte_data(data->client, > + VL_REG_RESULT_RANGE_STATUS); > + if (ret < 0) > + return ret; > + > + if (ret & 0x01) > + break; > + usleep_range(1000, 5000); > + } > + > + if (tries < 0) > + return -ETIMEDOUT; > + > + msg[0].addr = client->addr; > + msg[0].buf = &write_command; > + msg[0].len = 1; > + msg[0].flags = client->flags | I2C_M_STOP; > + > + msg[1].addr = client->addr; > + msg[1].buf = buffer; > + msg[1].len = 12; > + msg[1].flags = client->flags | I2C_M_RD; > + > + ret = i2c_transfer(client->adapter, msg, 2); > + > + if (ret != 2) { > + pr_err("vl53l0x: consecutively read error. "); > + return ret; > + } > + > + *val = __le16_to_cpu((buffer[10] << 8) + buffer[11]); > + > + return 0; > +} > + > +static const struct iio_chan_spec vl53l0x_channels[] = { > + { > + .type = IIO_DISTANCE, > + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) > + }, > + IIO_CHAN_SOFT_TIMESTAMP(1), > +}; > + > +static int vl53l0x_read_raw(struct iio_dev *indio_dev, > + const struct iio_chan_spec *chan, > + int *val, int *val2, long mask) > +{ > + struct vl53l0x_data *data = iio_priv(indio_dev); > + int ret; > + > + if (chan->type != IIO_DISTANCE) { > + pr_err("vl53l0x: iio type error"); > + return -EINVAL; > + } > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: > + ret = iio_device_claim_direct_mode(indio_dev); > + if (ret) > + return ret; > + ret = vl53l0x_read_proximity(data, chan, val); > + if (ret < 0) > + pr_err("vl53l0x: raw value read error with %d", ret); > + > + ret = IIO_VAL_INT; > + iio_device_release_direct_mode(indio_dev); > + return ret; > + default: > + pr_err("vl53l0x: IIO_CHAN_* not recognzed."); > + return -EINVAL; > + } > +} > + > +static const struct iio_info vl53l0x_info = { > + .read_raw = vl53l0x_read_raw, > +}; > + > +static int vl53l0x_probe(struct i2c_client *client, > + const struct i2c_device_id *id) > +{ > + int ret; > + struct vl53l0x_data *data; > + struct iio_dev *indio_dev; > + > + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); > + if (!indio_dev) > + return -ENOMEM; > + > + data = iio_priv(indio_dev); > + data->client = client; > + i2c_set_clientdata(client, indio_dev); > + mutex_init(&data->lock); > + > + if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_BYTE)) > + return -EOPNOTSUPP; > + > + indio_dev->dev.parent = &client->dev; > + indio_dev->name = VL53L0X_DRV_NAME; > + indio_dev->info = &vl53l0x_info; > + indio_dev->channels = vl53l0x_channels; > + indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels); > + indio_dev->modes = INDIO_DIRECT_MODE; > + > + //probe 0xc0 if the value is 0xEE. > + > + ret = iio_device_register(indio_dev); Would better be better to use resource managened functions since I don't see any point of using vl53l0x_remove() function below. Better use devm_iio_device_register()! > + if (ret) > + return ret; > + > + dev_set_drvdata(&client->dev, data); You already setted it up above using: i2c_set_clientdata(client, indio_dev); > + return 0; > +} > + > +static int vl53l0x_remove(struct i2c_client *client) > +{ > + struct iio_dev *indio_dev = i2c_get_clientdata(client); > + struct vl53l0x_data *data = iio_priv(indio_dev); > + > + iio_device_unregister(indio_dev); > + kfree(data); > + > + return 0; > +} Plus all other comments addressed by Andy. Thanks -- Himanshu Jha Undergraduate Student Department of Electronics & Communication Guru Tegh Bahadur Institute of Technology