diff options
Diffstat (limited to '')
| -rw-r--r-- | drivers/iio/proximity/Kconfig | 165 | ||||
| -rw-r--r-- | drivers/iio/proximity/Makefile | 19 | ||||
| -rw-r--r-- | drivers/iio/proximity/as3935.c | 488 | ||||
| -rw-r--r-- | drivers/iio/proximity/isl29501.c | 1018 | ||||
| -rw-r--r-- | drivers/iio/proximity/mb1232.c | 272 | ||||
| -rw-r--r-- | drivers/iio/proximity/ping.c | 333 | ||||
| -rw-r--r-- | drivers/iio/proximity/pulsedlight-lidar-lite-v2.c | 380 | ||||
| -rw-r--r-- | drivers/iio/proximity/rfd77402.c | 348 | ||||
| -rw-r--r-- | drivers/iio/proximity/srf04.c | 408 | ||||
| -rw-r--r-- | drivers/iio/proximity/srf08.c | 559 | ||||
| -rw-r--r-- | drivers/iio/proximity/sx9310.c | 1075 | ||||
| -rw-r--r-- | drivers/iio/proximity/sx9500.c | 1074 | ||||
| -rw-r--r-- | drivers/iio/proximity/vcnl3020.c | 257 | ||||
| -rw-r--r-- | drivers/iio/proximity/vl53l0x-i2c.c | 244 |
14 files changed, 6640 insertions, 0 deletions
diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig new file mode 100644 index 000000000..12672a0e8 --- /dev/null +++ b/drivers/iio/proximity/Kconfig @@ -0,0 +1,165 @@ +# SPDX-License-Identifier: GPL-2.0-only +# +# Proximity sensors +# + +menu "Lightning sensors" + +config AS3935 + tristate "AS3935 Franklin lightning sensor" + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + depends on SPI + help + Say Y here to build SPI interface support for the Austrian + Microsystems AS3935 lightning detection sensor. + + To compile this driver as a module, choose M here: the + module will be called as3935 + +endmenu + +menu "Proximity and distance sensors" + +config ISL29501 + tristate "Intersil ISL29501 Time Of Flight sensor" + depends on I2C + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + select IIO_KFIFO_BUF + help + Say Y here if you want to build a driver for the Intersil ISL29501 + Time of Flight sensor. + + To compile this driver as a module, choose M here: the module will be + called isl29501. + +config LIDAR_LITE_V2 + tristate "PulsedLight LIDAR sensor" + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + depends on I2C + help + Say Y to build a driver for PulsedLight LIDAR range finding + sensor. + + To compile this driver as a module, choose M here: the + module will be called pulsedlight-lite-v2 + +config MB1232 + tristate "MaxSonar I2CXL family ultrasonic sensors" + depends on I2C + help + Say Y to build a driver for the ultrasonic sensors I2CXL of + MaxBotix which have an i2c interface. It can be used to measure + the distance of objects. Supported types are mb1202, mb1212, + mb1222, mb1232, mb1242, mb7040, mb7137 + + 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 + help + Say Y to build a driver for the RFD77402 Time-of-Flight (distance) + sensor module with I2C interface. + + To compile this driver as a module, choose M here: the + module will be called rfd77402. + +config SRF04 + tristate "GPIO bitbanged ultrasonic ranger sensor (SRF04, MB1000)" + depends on GPIOLIB + help + Say Y here to build a driver for GPIO bitbanged ultrasonic + ranger sensor. This driver can be used to measure the distance + of objects. It is using two GPIOs. + Actually Supported types are: + - Devantech SRF04 + - Maxbotix mb1000 + - Maxbotix mb1010 + - Maxbotix mb1020 + - Maxbotix mb1030 + - Maxbotix mb1040 + + To compile this driver as a module, choose M here: the + module will be called srf04. + +config SX9310 + tristate "SX9310/SX9311 Semtech proximity sensor" + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + select REGMAP_I2C + depends on I2C + help + Say Y here to build a driver for Semtech's SX9310/SX9311 capacitive + proximity/button sensor. + + To compile this driver as a module, choose M here: the + module will be called sx9310. + +config SX9500 + tristate "SX9500 Semtech proximity sensor" + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + select REGMAP_I2C + depends on I2C + help + Say Y here to build a driver for Semtech's SX9500 capacitive + proximity/button sensor. + + To compile this driver as a module, choose M here: the + module will be called sx9500. + +config SRF08 + tristate "Devantech SRF02/SRF08/SRF10 ultrasonic ranger sensor" + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + depends on I2C + help + Say Y here to build a driver for Devantech SRF02/SRF08/SRF10 + ultrasonic 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 srf08. + +config VCNL3020 + tristate "VCNL3020 proximity sensor" + select REGMAP_I2C + depends on I2C + help + Say Y here if you want to build a driver for the Vishay VCNL3020 + proximity sensor. + + To compile this driver as a module, choose M here: the + module will be called vcnl3020. + +config VL53L0X_I2C + tristate "STMicroelectronics VL53L0X ToF ranger sensor (I2C)" + 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. + +endmenu diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile new file mode 100644 index 000000000..9c1aca1a8 --- /dev/null +++ b/drivers/iio/proximity/Makefile @@ -0,0 +1,19 @@ +# SPDX-License-Identifier: GPL-2.0 +# +# Makefile for IIO proximity sensors +# + +# When adding new entries keep the list in alphabetical order +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 +obj-$(CONFIG_SX9310) += sx9310.o +obj-$(CONFIG_SX9500) += sx9500.o +obj-$(CONFIG_VCNL3020) += vcnl3020.o +obj-$(CONFIG_VL53L0X_I2C) += vl53l0x-i2c.o + diff --git a/drivers/iio/proximity/as3935.c b/drivers/iio/proximity/as3935.c new file mode 100644 index 000000000..98330e26a --- /dev/null +++ b/drivers/iio/proximity/as3935.c @@ -0,0 +1,488 @@ +// SPDX-License-Identifier: GPL-2.0+ +/* + * as3935.c - Support for AS3935 Franklin lightning sensor + * + * Copyright (C) 2014, 2017-2018 + * Author: Matt Ranostay <matt.ranostay@konsulko.com> + */ + +#include <linux/module.h> +#include <linux/mod_devicetable.h> +#include <linux/init.h> +#include <linux/interrupt.h> +#include <linux/delay.h> +#include <linux/workqueue.h> +#include <linux/mutex.h> +#include <linux/err.h> +#include <linux/irq.h> +#include <linux/spi/spi.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/trigger.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/buffer.h> +#include <linux/iio/triggered_buffer.h> + +#define AS3935_AFE_GAIN 0x00 +#define AS3935_AFE_MASK 0x3F +#define AS3935_AFE_GAIN_MAX 0x1F +#define AS3935_AFE_PWR_BIT BIT(0) + +#define AS3935_NFLWDTH 0x01 +#define AS3935_NFLWDTH_MASK 0x7f + +#define AS3935_INT 0x03 +#define AS3935_INT_MASK 0x0f +#define AS3935_DISTURB_INT BIT(2) +#define AS3935_EVENT_INT BIT(3) +#define AS3935_NOISE_INT BIT(0) + +#define AS3935_DATA 0x07 +#define AS3935_DATA_MASK 0x3F + +#define AS3935_TUNE_CAP 0x08 +#define AS3935_DEFAULTS 0x3C +#define AS3935_CALIBRATE 0x3D + +#define AS3935_READ_DATA BIT(14) +#define AS3935_ADDRESS(x) ((x) << 8) + +#define MAX_PF_CAP 120 +#define TUNE_CAP_DIV 8 + +struct as3935_state { + struct spi_device *spi; + struct iio_trigger *trig; + struct mutex lock; + struct delayed_work work; + + unsigned long noise_tripped; + u32 tune_cap; + u32 nflwdth_reg; + /* Ensure timestamp is naturally aligned */ + struct { + u8 chan; + s64 timestamp __aligned(8); + } scan; + u8 buf[2] ____cacheline_aligned; +}; + +static const struct iio_chan_spec as3935_channels[] = { + { + .type = IIO_PROXIMITY, + .info_mask_separate = + BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_PROCESSED) | + BIT(IIO_CHAN_INFO_SCALE), + .scan_index = 0, + .scan_type = { + .sign = 'u', + .realbits = 6, + .storagebits = 8, + }, + }, + IIO_CHAN_SOFT_TIMESTAMP(1), +}; + +static int as3935_read(struct as3935_state *st, unsigned int reg, int *val) +{ + u8 cmd; + int ret; + + cmd = (AS3935_READ_DATA | AS3935_ADDRESS(reg)) >> 8; + ret = spi_w8r8(st->spi, cmd); + if (ret < 0) + return ret; + *val = ret; + + return 0; +} + +static int as3935_write(struct as3935_state *st, + unsigned int reg, + unsigned int val) +{ + u8 *buf = st->buf; + + buf[0] = AS3935_ADDRESS(reg) >> 8; + buf[1] = val; + + return spi_write(st->spi, buf, 2); +} + +static ssize_t as3935_sensor_sensitivity_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct as3935_state *st = iio_priv(dev_to_iio_dev(dev)); + int val, ret; + + ret = as3935_read(st, AS3935_AFE_GAIN, &val); + if (ret) + return ret; + val = (val & AS3935_AFE_MASK) >> 1; + + return sprintf(buf, "%d\n", val); +} + +static ssize_t as3935_sensor_sensitivity_store(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct as3935_state *st = iio_priv(dev_to_iio_dev(dev)); + unsigned long val; + int ret; + + ret = kstrtoul((const char *) buf, 10, &val); + if (ret) + return -EINVAL; + + if (val > AS3935_AFE_GAIN_MAX) + return -EINVAL; + + as3935_write(st, AS3935_AFE_GAIN, val << 1); + + return len; +} + +static ssize_t as3935_noise_level_tripped_show(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + struct as3935_state *st = iio_priv(dev_to_iio_dev(dev)); + int ret; + + mutex_lock(&st->lock); + ret = sprintf(buf, "%d\n", !time_after(jiffies, st->noise_tripped + HZ)); + mutex_unlock(&st->lock); + + return ret; +} + +static IIO_DEVICE_ATTR(sensor_sensitivity, S_IRUGO | S_IWUSR, + as3935_sensor_sensitivity_show, as3935_sensor_sensitivity_store, 0); + +static IIO_DEVICE_ATTR(noise_level_tripped, S_IRUGO, + as3935_noise_level_tripped_show, NULL, 0); + +static struct attribute *as3935_attributes[] = { + &iio_dev_attr_sensor_sensitivity.dev_attr.attr, + &iio_dev_attr_noise_level_tripped.dev_attr.attr, + NULL, +}; + +static const struct attribute_group as3935_attribute_group = { + .attrs = as3935_attributes, +}; + +static int as3935_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, + int *val2, + long m) +{ + struct as3935_state *st = iio_priv(indio_dev); + int ret; + + + switch (m) { + case IIO_CHAN_INFO_PROCESSED: + case IIO_CHAN_INFO_RAW: + *val2 = 0; + ret = as3935_read(st, AS3935_DATA, val); + if (ret) + return ret; + + /* storm out of range */ + if (*val == AS3935_DATA_MASK) + return -EINVAL; + + if (m == IIO_CHAN_INFO_RAW) + return IIO_VAL_INT; + + if (m == IIO_CHAN_INFO_PROCESSED) + *val *= 1000; + break; + case IIO_CHAN_INFO_SCALE: + *val = 1000; + break; + default: + return -EINVAL; + } + + return IIO_VAL_INT; +} + +static const struct iio_info as3935_info = { + .attrs = &as3935_attribute_group, + .read_raw = &as3935_read_raw, +}; + +static irqreturn_t as3935_trigger_handler(int irq, void *private) +{ + struct iio_poll_func *pf = private; + struct iio_dev *indio_dev = pf->indio_dev; + struct as3935_state *st = iio_priv(indio_dev); + int val, ret; + + ret = as3935_read(st, AS3935_DATA, &val); + if (ret) + goto err_read; + + st->scan.chan = val & AS3935_DATA_MASK; + iio_push_to_buffers_with_timestamp(indio_dev, &st->scan, + iio_get_time_ns(indio_dev)); +err_read: + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static const struct iio_trigger_ops iio_interrupt_trigger_ops = { +}; + +static void as3935_event_work(struct work_struct *work) +{ + struct as3935_state *st; + int val; + int ret; + + st = container_of(work, struct as3935_state, work.work); + + ret = as3935_read(st, AS3935_INT, &val); + if (ret) { + dev_warn(&st->spi->dev, "read error\n"); + return; + } + + val &= AS3935_INT_MASK; + + switch (val) { + case AS3935_EVENT_INT: + iio_trigger_poll_chained(st->trig); + break; + case AS3935_DISTURB_INT: + case AS3935_NOISE_INT: + mutex_lock(&st->lock); + st->noise_tripped = jiffies; + mutex_unlock(&st->lock); + dev_warn(&st->spi->dev, "noise level is too high\n"); + break; + } +} + +static irqreturn_t as3935_interrupt_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct as3935_state *st = iio_priv(indio_dev); + + /* + * Delay work for >2 milliseconds after an interrupt to allow + * estimated distance to recalculated. + */ + + schedule_delayed_work(&st->work, msecs_to_jiffies(3)); + + return IRQ_HANDLED; +} + +static void calibrate_as3935(struct as3935_state *st) +{ + as3935_write(st, AS3935_DEFAULTS, 0x96); + as3935_write(st, AS3935_CALIBRATE, 0x96); + as3935_write(st, AS3935_TUNE_CAP, + BIT(5) | (st->tune_cap / TUNE_CAP_DIV)); + + mdelay(2); + as3935_write(st, AS3935_TUNE_CAP, (st->tune_cap / TUNE_CAP_DIV)); + as3935_write(st, AS3935_NFLWDTH, st->nflwdth_reg); +} + +#ifdef CONFIG_PM_SLEEP +static int as3935_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct as3935_state *st = iio_priv(indio_dev); + int val, ret; + + mutex_lock(&st->lock); + ret = as3935_read(st, AS3935_AFE_GAIN, &val); + if (ret) + goto err_suspend; + val |= AS3935_AFE_PWR_BIT; + + ret = as3935_write(st, AS3935_AFE_GAIN, val); + +err_suspend: + mutex_unlock(&st->lock); + + return ret; +} + +static int as3935_resume(struct device *dev) +{ + struct iio_dev *indio_dev = dev_get_drvdata(dev); + struct as3935_state *st = iio_priv(indio_dev); + int val, ret; + + mutex_lock(&st->lock); + ret = as3935_read(st, AS3935_AFE_GAIN, &val); + if (ret) + goto err_resume; + val &= ~AS3935_AFE_PWR_BIT; + ret = as3935_write(st, AS3935_AFE_GAIN, val); + + calibrate_as3935(st); + +err_resume: + mutex_unlock(&st->lock); + + return ret; +} + +static SIMPLE_DEV_PM_OPS(as3935_pm_ops, as3935_suspend, as3935_resume); +#define AS3935_PM_OPS (&as3935_pm_ops) + +#else +#define AS3935_PM_OPS NULL +#endif + +static void as3935_stop_work(void *data) +{ + struct iio_dev *indio_dev = data; + struct as3935_state *st = iio_priv(indio_dev); + + cancel_delayed_work_sync(&st->work); +} + +static int as3935_probe(struct spi_device *spi) +{ + struct device *dev = &spi->dev; + struct iio_dev *indio_dev; + struct iio_trigger *trig; + struct as3935_state *st; + int ret; + + /* Be sure lightning event interrupt is specified */ + if (!spi->irq) { + dev_err(dev, "unable to get event interrupt\n"); + return -EINVAL; + } + + indio_dev = devm_iio_device_alloc(dev, sizeof(*st)); + if (!indio_dev) + return -ENOMEM; + + st = iio_priv(indio_dev); + st->spi = spi; + + spi_set_drvdata(spi, indio_dev); + mutex_init(&st->lock); + + ret = device_property_read_u32(dev, + "ams,tuning-capacitor-pf", &st->tune_cap); + if (ret) { + st->tune_cap = 0; + dev_warn(dev, "no tuning-capacitor-pf set, defaulting to %d", + st->tune_cap); + } + + if (st->tune_cap > MAX_PF_CAP) { + dev_err(dev, "wrong tuning-capacitor-pf setting of %d\n", + st->tune_cap); + return -EINVAL; + } + + ret = device_property_read_u32(dev, + "ams,nflwdth", &st->nflwdth_reg); + if (!ret && st->nflwdth_reg > AS3935_NFLWDTH_MASK) { + dev_err(dev, "invalid nflwdth setting of %d\n", + st->nflwdth_reg); + return -EINVAL; + } + + indio_dev->name = spi_get_device_id(spi)->name; + indio_dev->channels = as3935_channels; + indio_dev->num_channels = ARRAY_SIZE(as3935_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &as3935_info; + + trig = devm_iio_trigger_alloc(dev, "%s-dev%d", + indio_dev->name, indio_dev->id); + + if (!trig) + return -ENOMEM; + + st->trig = trig; + st->noise_tripped = jiffies - HZ; + trig->dev.parent = indio_dev->dev.parent; + iio_trigger_set_drvdata(trig, indio_dev); + trig->ops = &iio_interrupt_trigger_ops; + + ret = devm_iio_trigger_register(dev, trig); + if (ret) { + dev_err(dev, "failed to register trigger\n"); + return ret; + } + + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, + as3935_trigger_handler, NULL); + + if (ret) { + dev_err(dev, "cannot setup iio trigger\n"); + return ret; + } + + calibrate_as3935(st); + + INIT_DELAYED_WORK(&st->work, as3935_event_work); + ret = devm_add_action(dev, as3935_stop_work, indio_dev); + if (ret) + return ret; + + ret = devm_request_irq(dev, spi->irq, + &as3935_interrupt_handler, + IRQF_TRIGGER_RISING, + dev_name(dev), + indio_dev); + + if (ret) { + dev_err(dev, "unable to request irq\n"); + return ret; + } + + ret = devm_iio_device_register(dev, indio_dev); + if (ret < 0) { + dev_err(dev, "unable to register device\n"); + return ret; + } + return 0; +} + +static const struct of_device_id as3935_of_match[] = { + { .compatible = "ams,as3935", }, + { /* sentinel */ }, +}; +MODULE_DEVICE_TABLE(of, as3935_of_match); + +static const struct spi_device_id as3935_id[] = { + {"as3935", 0}, + {}, +}; +MODULE_DEVICE_TABLE(spi, as3935_id); + +static struct spi_driver as3935_driver = { + .driver = { + .name = "as3935", + .of_match_table = as3935_of_match, + .pm = AS3935_PM_OPS, + }, + .probe = as3935_probe, + .id_table = as3935_id, +}; +module_spi_driver(as3935_driver); + +MODULE_AUTHOR("Matt Ranostay <matt.ranostay@konsulko.com>"); +MODULE_DESCRIPTION("AS3935 lightning sensor"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/proximity/isl29501.c b/drivers/iio/proximity/isl29501.c new file mode 100644 index 000000000..5b6ea7837 --- /dev/null +++ b/drivers/iio/proximity/isl29501.c @@ -0,0 +1,1018 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * isl29501.c: ISL29501 Time of Flight sensor driver. + * + * Copyright (C) 2018 + * Author: Mathieu Othacehe <m.othacehe@gmail.com> + * + * 7-bit I2C slave address: 0x57 + */ + +#include <linux/kernel.h> +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/err.h> +#include <linux/of_device.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/buffer.h> +#include <linux/iio/triggered_buffer.h> + +/* Control, setting and status registers */ +#define ISL29501_DEVICE_ID 0x00 +#define ISL29501_ID 0x0A + +/* Sampling control registers */ +#define ISL29501_INTEGRATION_PERIOD 0x10 +#define ISL29501_SAMPLE_PERIOD 0x11 + +/* Closed loop calibration registers */ +#define ISL29501_CROSSTALK_I_MSB 0x24 +#define ISL29501_CROSSTALK_I_LSB 0x25 +#define ISL29501_CROSSTALK_I_EXPONENT 0x26 +#define ISL29501_CROSSTALK_Q_MSB 0x27 +#define ISL29501_CROSSTALK_Q_LSB 0x28 +#define ISL29501_CROSSTALK_Q_EXPONENT 0x29 +#define ISL29501_CROSSTALK_GAIN_MSB 0x2A +#define ISL29501_CROSSTALK_GAIN_LSB 0x2B +#define ISL29501_MAGNITUDE_REF_EXP 0x2C +#define ISL29501_MAGNITUDE_REF_MSB 0x2D +#define ISL29501_MAGNITUDE_REF_LSB 0x2E +#define ISL29501_PHASE_OFFSET_MSB 0x2F +#define ISL29501_PHASE_OFFSET_LSB 0x30 + +/* Analog control registers */ +#define ISL29501_DRIVER_RANGE 0x90 +#define ISL29501_EMITTER_DAC 0x91 + +#define ISL29501_COMMAND_REGISTER 0xB0 + +/* Commands */ +#define ISL29501_EMUL_SAMPLE_START_PIN 0x49 +#define ISL29501_RESET_ALL_REGISTERS 0xD7 +#define ISL29501_RESET_INT_SM 0xD1 + +/* Ambiant light and temperature corrections */ +#define ISL29501_TEMP_REFERENCE 0x31 +#define ISL29501_PHASE_EXPONENT 0x33 +#define ISL29501_TEMP_COEFF_A 0x34 +#define ISL29501_TEMP_COEFF_B 0x39 +#define ISL29501_AMBIANT_COEFF_A 0x36 +#define ISL29501_AMBIANT_COEFF_B 0x3B + +/* Data output registers */ +#define ISL29501_DISTANCE_MSB_DATA 0xD1 +#define ISL29501_DISTANCE_LSB_DATA 0xD2 +#define ISL29501_PRECISION_MSB 0xD3 +#define ISL29501_PRECISION_LSB 0xD4 +#define ISL29501_MAGNITUDE_EXPONENT 0xD5 +#define ISL29501_MAGNITUDE_MSB 0xD6 +#define ISL29501_MAGNITUDE_LSB 0xD7 +#define ISL29501_PHASE_MSB 0xD8 +#define ISL29501_PHASE_LSB 0xD9 +#define ISL29501_I_RAW_EXPONENT 0xDA +#define ISL29501_I_RAW_MSB 0xDB +#define ISL29501_I_RAW_LSB 0xDC +#define ISL29501_Q_RAW_EXPONENT 0xDD +#define ISL29501_Q_RAW_MSB 0xDE +#define ISL29501_Q_RAW_LSB 0xDF +#define ISL29501_DIE_TEMPERATURE 0xE2 +#define ISL29501_AMBIENT_LIGHT 0xE3 +#define ISL29501_GAIN_MSB 0xE6 +#define ISL29501_GAIN_LSB 0xE7 + +#define ISL29501_MAX_EXP_VAL 15 + +#define ISL29501_INT_TIME_AVAILABLE \ + "0.00007 0.00014 0.00028 0.00057 0.00114 " \ + "0.00228 0.00455 0.00910 0.01820 0.03640 " \ + "0.07281 0.14561" + +#define ISL29501_CURRENT_SCALE_AVAILABLE \ + "0.0039 0.0078 0.0118 0.0157 0.0196 " \ + "0.0235 0.0275 0.0314 0.0352 0.0392 " \ + "0.0431 0.0471 0.0510 0.0549 0.0588" + +enum isl29501_correction_coeff { + COEFF_TEMP_A, + COEFF_TEMP_B, + COEFF_LIGHT_A, + COEFF_LIGHT_B, + COEFF_MAX, +}; + +struct isl29501_private { + struct i2c_client *client; + struct mutex lock; + /* Exact representation of correction coefficients. */ + unsigned int shadow_coeffs[COEFF_MAX]; +}; + +enum isl29501_register_name { + REG_DISTANCE, + REG_PHASE, + REG_TEMPERATURE, + REG_AMBIENT_LIGHT, + REG_GAIN, + REG_GAIN_BIAS, + REG_PHASE_EXP, + REG_CALIB_PHASE_TEMP_A, + REG_CALIB_PHASE_TEMP_B, + REG_CALIB_PHASE_LIGHT_A, + REG_CALIB_PHASE_LIGHT_B, + REG_DISTANCE_BIAS, + REG_TEMPERATURE_BIAS, + REG_INT_TIME, + REG_SAMPLE_TIME, + REG_DRIVER_RANGE, + REG_EMITTER_DAC, +}; + +struct isl29501_register_desc { + u8 msb; + u8 lsb; +}; + +static const struct isl29501_register_desc isl29501_registers[] = { + [REG_DISTANCE] = { + .msb = ISL29501_DISTANCE_MSB_DATA, + .lsb = ISL29501_DISTANCE_LSB_DATA, + }, + [REG_PHASE] = { + .msb = ISL29501_PHASE_MSB, + .lsb = ISL29501_PHASE_LSB, + }, + [REG_TEMPERATURE] = { + .lsb = ISL29501_DIE_TEMPERATURE, + }, + [REG_AMBIENT_LIGHT] = { + .lsb = ISL29501_AMBIENT_LIGHT, + }, + [REG_GAIN] = { + .msb = ISL29501_GAIN_MSB, + .lsb = ISL29501_GAIN_LSB, + }, + [REG_GAIN_BIAS] = { + .msb = ISL29501_CROSSTALK_GAIN_MSB, + .lsb = ISL29501_CROSSTALK_GAIN_LSB, + }, + [REG_PHASE_EXP] = { + .lsb = ISL29501_PHASE_EXPONENT, + }, + [REG_CALIB_PHASE_TEMP_A] = { + .lsb = ISL29501_TEMP_COEFF_A, + }, + [REG_CALIB_PHASE_TEMP_B] = { + .lsb = ISL29501_TEMP_COEFF_B, + }, + [REG_CALIB_PHASE_LIGHT_A] = { + .lsb = ISL29501_AMBIANT_COEFF_A, + }, + [REG_CALIB_PHASE_LIGHT_B] = { + .lsb = ISL29501_AMBIANT_COEFF_B, + }, + [REG_DISTANCE_BIAS] = { + .msb = ISL29501_PHASE_OFFSET_MSB, + .lsb = ISL29501_PHASE_OFFSET_LSB, + }, + [REG_TEMPERATURE_BIAS] = { + .lsb = ISL29501_TEMP_REFERENCE, + }, + [REG_INT_TIME] = { + .lsb = ISL29501_INTEGRATION_PERIOD, + }, + [REG_SAMPLE_TIME] = { + .lsb = ISL29501_SAMPLE_PERIOD, + }, + [REG_DRIVER_RANGE] = { + .lsb = ISL29501_DRIVER_RANGE, + }, + [REG_EMITTER_DAC] = { + .lsb = ISL29501_EMITTER_DAC, + }, +}; + +static int isl29501_register_read(struct isl29501_private *isl29501, + enum isl29501_register_name name, + u32 *val) +{ + const struct isl29501_register_desc *reg = &isl29501_registers[name]; + u8 msb = 0, lsb = 0; + s32 ret; + + mutex_lock(&isl29501->lock); + if (reg->msb) { + ret = i2c_smbus_read_byte_data(isl29501->client, reg->msb); + if (ret < 0) + goto err; + msb = ret; + } + + if (reg->lsb) { + ret = i2c_smbus_read_byte_data(isl29501->client, reg->lsb); + if (ret < 0) + goto err; + lsb = ret; + } + mutex_unlock(&isl29501->lock); + + *val = (msb << 8) + lsb; + + return 0; +err: + mutex_unlock(&isl29501->lock); + + return ret; +} + +static u32 isl29501_register_write(struct isl29501_private *isl29501, + enum isl29501_register_name name, + u32 value) +{ + const struct isl29501_register_desc *reg = &isl29501_registers[name]; + int ret; + + if (!reg->msb && value > U8_MAX) + return -ERANGE; + + if (value > U16_MAX) + return -ERANGE; + + mutex_lock(&isl29501->lock); + if (reg->msb) { + ret = i2c_smbus_write_byte_data(isl29501->client, + reg->msb, value >> 8); + if (ret < 0) + goto err; + } + + ret = i2c_smbus_write_byte_data(isl29501->client, reg->lsb, value); + +err: + mutex_unlock(&isl29501->lock); + return ret; +} + +static ssize_t isl29501_read_ext(struct iio_dev *indio_dev, + uintptr_t private, + const struct iio_chan_spec *chan, + char *buf) +{ + struct isl29501_private *isl29501 = iio_priv(indio_dev); + enum isl29501_register_name reg = private; + int ret; + u32 value, gain, coeff, exp; + + switch (reg) { + case REG_GAIN: + case REG_GAIN_BIAS: + ret = isl29501_register_read(isl29501, reg, &gain); + if (ret < 0) + return ret; + + value = gain; + break; + case REG_CALIB_PHASE_TEMP_A: + case REG_CALIB_PHASE_TEMP_B: + case REG_CALIB_PHASE_LIGHT_A: + case REG_CALIB_PHASE_LIGHT_B: + ret = isl29501_register_read(isl29501, REG_PHASE_EXP, &exp); + if (ret < 0) + return ret; + + ret = isl29501_register_read(isl29501, reg, &coeff); + if (ret < 0) + return ret; + + value = coeff << exp; + break; + default: + return -EINVAL; + } + + return sprintf(buf, "%u\n", value); +} + +static int isl29501_set_shadow_coeff(struct isl29501_private *isl29501, + enum isl29501_register_name reg, + unsigned int val) +{ + enum isl29501_correction_coeff coeff; + + switch (reg) { + case REG_CALIB_PHASE_TEMP_A: + coeff = COEFF_TEMP_A; + break; + case REG_CALIB_PHASE_TEMP_B: + coeff = COEFF_TEMP_B; + break; + case REG_CALIB_PHASE_LIGHT_A: + coeff = COEFF_LIGHT_A; + break; + case REG_CALIB_PHASE_LIGHT_B: + coeff = COEFF_LIGHT_B; + break; + default: + return -EINVAL; + } + isl29501->shadow_coeffs[coeff] = val; + + return 0; +} + +static int isl29501_write_coeff(struct isl29501_private *isl29501, + enum isl29501_correction_coeff coeff, + int val) +{ + enum isl29501_register_name reg; + + switch (coeff) { + case COEFF_TEMP_A: + reg = REG_CALIB_PHASE_TEMP_A; + break; + case COEFF_TEMP_B: + reg = REG_CALIB_PHASE_TEMP_B; + break; + case COEFF_LIGHT_A: + reg = REG_CALIB_PHASE_LIGHT_A; + break; + case COEFF_LIGHT_B: + reg = REG_CALIB_PHASE_LIGHT_B; + break; + default: + return -EINVAL; + } + + return isl29501_register_write(isl29501, reg, val); +} + +static unsigned int isl29501_find_corr_exp(unsigned int val, + unsigned int max_exp, + unsigned int max_mantissa) +{ + unsigned int exp = 1; + + /* + * Correction coefficients are represented under + * mantissa * 2^exponent form, where mantissa and exponent + * are stored in two separate registers of the sensor. + * + * Compute and return the lowest exponent such as: + * mantissa = value / 2^exponent + * + * where mantissa < max_mantissa. + */ + if (val <= max_mantissa) + return 0; + + while ((val >> exp) > max_mantissa) { + exp++; + + if (exp > max_exp) + return max_exp; + } + + return exp; +} + +static ssize_t isl29501_write_ext(struct iio_dev *indio_dev, + uintptr_t private, + const struct iio_chan_spec *chan, + const char *buf, size_t len) +{ + struct isl29501_private *isl29501 = iio_priv(indio_dev); + enum isl29501_register_name reg = private; + unsigned int val; + int max_exp = 0; + int ret; + int i; + + ret = kstrtouint(buf, 10, &val); + if (ret) + return ret; + + switch (reg) { + case REG_GAIN_BIAS: + if (val > U16_MAX) + return -ERANGE; + + ret = isl29501_register_write(isl29501, reg, val); + if (ret < 0) + return ret; + + break; + case REG_CALIB_PHASE_TEMP_A: + case REG_CALIB_PHASE_TEMP_B: + case REG_CALIB_PHASE_LIGHT_A: + case REG_CALIB_PHASE_LIGHT_B: + + if (val > (U8_MAX << ISL29501_MAX_EXP_VAL)) + return -ERANGE; + + /* Store the correction coefficient under its exact form. */ + ret = isl29501_set_shadow_coeff(isl29501, reg, val); + if (ret < 0) + return ret; + + /* + * Find the highest exponent needed to represent + * correction coefficients. + */ + for (i = 0; i < COEFF_MAX; i++) { + int corr; + int corr_exp; + + corr = isl29501->shadow_coeffs[i]; + corr_exp = isl29501_find_corr_exp(corr, + ISL29501_MAX_EXP_VAL, + U8_MAX / 2); + dev_dbg(&isl29501->client->dev, + "found exp of corr(%d) = %d\n", corr, corr_exp); + + max_exp = max(max_exp, corr_exp); + } + + /* + * Represent every correction coefficient under + * mantissa * 2^max_exponent form and force the + * writing of those coefficients on the sensor. + */ + for (i = 0; i < COEFF_MAX; i++) { + int corr; + int mantissa; + + corr = isl29501->shadow_coeffs[i]; + if (!corr) + continue; + + mantissa = corr >> max_exp; + + ret = isl29501_write_coeff(isl29501, i, mantissa); + if (ret < 0) + return ret; + } + + ret = isl29501_register_write(isl29501, REG_PHASE_EXP, max_exp); + if (ret < 0) + return ret; + + break; + default: + return -EINVAL; + } + + return len; +} + +#define _ISL29501_EXT_INFO(_name, _ident) { \ + .name = _name, \ + .read = isl29501_read_ext, \ + .write = isl29501_write_ext, \ + .private = _ident, \ + .shared = IIO_SEPARATE, \ +} + +static const struct iio_chan_spec_ext_info isl29501_ext_info[] = { + _ISL29501_EXT_INFO("agc_gain", REG_GAIN), + _ISL29501_EXT_INFO("agc_gain_bias", REG_GAIN_BIAS), + _ISL29501_EXT_INFO("calib_phase_temp_a", REG_CALIB_PHASE_TEMP_A), + _ISL29501_EXT_INFO("calib_phase_temp_b", REG_CALIB_PHASE_TEMP_B), + _ISL29501_EXT_INFO("calib_phase_light_a", REG_CALIB_PHASE_LIGHT_A), + _ISL29501_EXT_INFO("calib_phase_light_b", REG_CALIB_PHASE_LIGHT_B), + { }, +}; + +#define ISL29501_DISTANCE_SCAN_INDEX 0 +#define ISL29501_TIMESTAMP_SCAN_INDEX 1 + +static const struct iio_chan_spec isl29501_channels[] = { + { + .type = IIO_PROXIMITY, + .scan_index = ISL29501_DISTANCE_SCAN_INDEX, + .info_mask_separate = + BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_CALIBBIAS), + .scan_type = { + .sign = 'u', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_CPU, + }, + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_INT_TIME) | + BIT(IIO_CHAN_INFO_SAMP_FREQ), + .ext_info = isl29501_ext_info, + }, + { + .type = IIO_PHASE, + .scan_index = -1, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, + { + .type = IIO_CURRENT, + .scan_index = -1, + .output = 1, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, + { + .type = IIO_TEMP, + .scan_index = -1, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE) | + BIT(IIO_CHAN_INFO_CALIBBIAS), + }, + { + .type = IIO_INTENSITY, + .scan_index = -1, + .modified = 1, + .channel2 = IIO_MOD_LIGHT_CLEAR, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, + IIO_CHAN_SOFT_TIMESTAMP(ISL29501_TIMESTAMP_SCAN_INDEX), +}; + +static int isl29501_reset_registers(struct isl29501_private *isl29501) +{ + int ret; + + ret = i2c_smbus_write_byte_data(isl29501->client, + ISL29501_COMMAND_REGISTER, + ISL29501_RESET_ALL_REGISTERS); + if (ret < 0) { + dev_err(&isl29501->client->dev, + "cannot reset registers %d\n", ret); + return ret; + } + + ret = i2c_smbus_write_byte_data(isl29501->client, + ISL29501_COMMAND_REGISTER, + ISL29501_RESET_INT_SM); + if (ret < 0) + dev_err(&isl29501->client->dev, + "cannot reset state machine %d\n", ret); + + return ret; +} + +static int isl29501_begin_acquisition(struct isl29501_private *isl29501) +{ + int ret; + + ret = i2c_smbus_write_byte_data(isl29501->client, + ISL29501_COMMAND_REGISTER, + ISL29501_EMUL_SAMPLE_START_PIN); + if (ret < 0) + dev_err(&isl29501->client->dev, + "cannot begin acquisition %d\n", ret); + + return ret; +} + +static IIO_CONST_ATTR_INT_TIME_AVAIL(ISL29501_INT_TIME_AVAILABLE); +static IIO_CONST_ATTR(out_current_scale_available, + ISL29501_CURRENT_SCALE_AVAILABLE); + +static struct attribute *isl29501_attributes[] = { + &iio_const_attr_integration_time_available.dev_attr.attr, + &iio_const_attr_out_current_scale_available.dev_attr.attr, + NULL +}; + +static const struct attribute_group isl29501_attribute_group = { + .attrs = isl29501_attributes, +}; + +static const int isl29501_current_scale_table[][2] = { + {0, 3900}, {0, 7800}, {0, 11800}, {0, 15700}, + {0, 19600}, {0, 23500}, {0, 27500}, {0, 31400}, + {0, 35200}, {0, 39200}, {0, 43100}, {0, 47100}, + {0, 51000}, {0, 54900}, {0, 58800}, +}; + +static const int isl29501_int_time[][2] = { + {0, 70}, /* 0.07 ms */ + {0, 140}, /* 0.14 ms */ + {0, 280}, /* 0.28 ms */ + {0, 570}, /* 0.57 ms */ + {0, 1140}, /* 1.14 ms */ + {0, 2280}, /* 2.28 ms */ + {0, 4550}, /* 4.55 ms */ + {0, 9100}, /* 9.11 ms */ + {0, 18200}, /* 18.2 ms */ + {0, 36400}, /* 36.4 ms */ + {0, 72810}, /* 72.81 ms */ + {0, 145610} /* 145.28 ms */ +}; + +static int isl29501_get_raw(struct isl29501_private *isl29501, + const struct iio_chan_spec *chan, + int *raw) +{ + int ret; + + switch (chan->type) { + case IIO_PROXIMITY: + ret = isl29501_register_read(isl29501, REG_DISTANCE, raw); + if (ret < 0) + return ret; + + return IIO_VAL_INT; + case IIO_INTENSITY: + ret = isl29501_register_read(isl29501, + REG_AMBIENT_LIGHT, + raw); + if (ret < 0) + return ret; + + return IIO_VAL_INT; + case IIO_PHASE: + ret = isl29501_register_read(isl29501, REG_PHASE, raw); + if (ret < 0) + return ret; + + return IIO_VAL_INT; + case IIO_CURRENT: + ret = isl29501_register_read(isl29501, REG_EMITTER_DAC, raw); + if (ret < 0) + return ret; + + return IIO_VAL_INT; + case IIO_TEMP: + ret = isl29501_register_read(isl29501, REG_TEMPERATURE, raw); + if (ret < 0) + return ret; + + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static int isl29501_get_scale(struct isl29501_private *isl29501, + const struct iio_chan_spec *chan, + int *val, int *val2) +{ + int ret; + u32 current_scale; + + switch (chan->type) { + case IIO_PROXIMITY: + /* distance = raw_distance * 33.31 / 65536 (m) */ + *val = 3331; + *val2 = 6553600; + + return IIO_VAL_FRACTIONAL; + case IIO_PHASE: + /* phase = raw_phase * 2pi / 65536 (rad) */ + *val = 0; + *val2 = 95874; + + return IIO_VAL_INT_PLUS_NANO; + case IIO_INTENSITY: + /* light = raw_light * 35 / 10000 (mA) */ + *val = 35; + *val2 = 10000; + + return IIO_VAL_FRACTIONAL; + case IIO_CURRENT: + ret = isl29501_register_read(isl29501, + REG_DRIVER_RANGE, + ¤t_scale); + if (ret < 0) + return ret; + + if (current_scale > ARRAY_SIZE(isl29501_current_scale_table)) + return -EINVAL; + + if (!current_scale) { + *val = 0; + *val2 = 0; + return IIO_VAL_INT; + } + + *val = isl29501_current_scale_table[current_scale - 1][0]; + *val2 = isl29501_current_scale_table[current_scale - 1][1]; + + return IIO_VAL_INT_PLUS_MICRO; + case IIO_TEMP: + /* temperature = raw_temperature * 125 / 100000 (milli °C) */ + *val = 125; + *val2 = 100000; + + return IIO_VAL_FRACTIONAL; + default: + return -EINVAL; + } +} + +static int isl29501_get_calibbias(struct isl29501_private *isl29501, + const struct iio_chan_spec *chan, + int *bias) +{ + switch (chan->type) { + case IIO_PROXIMITY: + return isl29501_register_read(isl29501, + REG_DISTANCE_BIAS, + bias); + case IIO_TEMP: + return isl29501_register_read(isl29501, + REG_TEMPERATURE_BIAS, + bias); + default: + return -EINVAL; + } +} + +static int isl29501_get_inttime(struct isl29501_private *isl29501, + int *val, int *val2) +{ + int ret; + u32 inttime; + + ret = isl29501_register_read(isl29501, REG_INT_TIME, &inttime); + if (ret < 0) + return ret; + + if (inttime >= ARRAY_SIZE(isl29501_int_time)) + return -EINVAL; + + *val = isl29501_int_time[inttime][0]; + *val2 = isl29501_int_time[inttime][1]; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int isl29501_get_freq(struct isl29501_private *isl29501, + int *val, int *val2) +{ + int ret; + int sample_time; + unsigned long long freq; + u32 temp; + + ret = isl29501_register_read(isl29501, REG_SAMPLE_TIME, &sample_time); + if (ret < 0) + return ret; + + /* freq = 1 / (0.000450 * (sample_time + 1) * 10^-6) */ + freq = 1000000ULL * 1000000ULL; + + do_div(freq, 450 * (sample_time + 1)); + + temp = do_div(freq, 1000000); + *val = freq; + *val2 = temp; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int isl29501_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + struct isl29501_private *isl29501 = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + return isl29501_get_raw(isl29501, chan, val); + case IIO_CHAN_INFO_SCALE: + return isl29501_get_scale(isl29501, chan, val, val2); + case IIO_CHAN_INFO_INT_TIME: + return isl29501_get_inttime(isl29501, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return isl29501_get_freq(isl29501, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + return isl29501_get_calibbias(isl29501, chan, val); + default: + return -EINVAL; + } +} + +static int isl29501_set_raw(struct isl29501_private *isl29501, + const struct iio_chan_spec *chan, + int raw) +{ + switch (chan->type) { + case IIO_CURRENT: + return isl29501_register_write(isl29501, REG_EMITTER_DAC, raw); + default: + return -EINVAL; + } +} + +static int isl29501_set_inttime(struct isl29501_private *isl29501, + int val, int val2) +{ + int i; + + for (i = 0; i < ARRAY_SIZE(isl29501_int_time); i++) { + if (isl29501_int_time[i][0] == val && + isl29501_int_time[i][1] == val2) { + return isl29501_register_write(isl29501, + REG_INT_TIME, + i); + } + } + + return -EINVAL; +} + +static int isl29501_set_scale(struct isl29501_private *isl29501, + const struct iio_chan_spec *chan, + int val, int val2) +{ + int i; + + if (chan->type != IIO_CURRENT) + return -EINVAL; + + for (i = 0; i < ARRAY_SIZE(isl29501_current_scale_table); i++) { + if (isl29501_current_scale_table[i][0] == val && + isl29501_current_scale_table[i][1] == val2) { + return isl29501_register_write(isl29501, + REG_DRIVER_RANGE, + i + 1); + } + } + + return -EINVAL; +} + +static int isl29501_set_calibbias(struct isl29501_private *isl29501, + const struct iio_chan_spec *chan, + int bias) +{ + switch (chan->type) { + case IIO_PROXIMITY: + return isl29501_register_write(isl29501, + REG_DISTANCE_BIAS, + bias); + case IIO_TEMP: + return isl29501_register_write(isl29501, + REG_TEMPERATURE_BIAS, + bias); + default: + return -EINVAL; + } +} + +static int isl29501_set_freq(struct isl29501_private *isl29501, + int val, int val2) +{ + int freq; + unsigned long long sample_time; + + /* sample_freq = 1 / (0.000450 * (sample_time + 1) * 10^-6) */ + freq = val * 1000000 + val2 % 1000000; + sample_time = 2222ULL * 1000000ULL; + do_div(sample_time, freq); + + sample_time -= 1; + + if (sample_time > 255) + return -ERANGE; + + return isl29501_register_write(isl29501, REG_SAMPLE_TIME, sample_time); +} + +static int isl29501_write_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int val, int val2, long mask) +{ + struct isl29501_private *isl29501 = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + return isl29501_set_raw(isl29501, chan, val); + case IIO_CHAN_INFO_INT_TIME: + return isl29501_set_inttime(isl29501, val, val2); + case IIO_CHAN_INFO_SAMP_FREQ: + return isl29501_set_freq(isl29501, val, val2); + case IIO_CHAN_INFO_SCALE: + return isl29501_set_scale(isl29501, chan, val, val2); + case IIO_CHAN_INFO_CALIBBIAS: + return isl29501_set_calibbias(isl29501, chan, val); + default: + return -EINVAL; + } +} + +static const struct iio_info isl29501_info = { + .read_raw = &isl29501_read_raw, + .write_raw = &isl29501_write_raw, + .attrs = &isl29501_attribute_group, +}; + +static int isl29501_init_chip(struct isl29501_private *isl29501) +{ + int ret; + + ret = i2c_smbus_read_byte_data(isl29501->client, ISL29501_DEVICE_ID); + if (ret < 0) { + dev_err(&isl29501->client->dev, "Error reading device id\n"); + return ret; + } + + if (ret != ISL29501_ID) { + dev_err(&isl29501->client->dev, + "Wrong chip id, got %x expected %x\n", + ret, ISL29501_DEVICE_ID); + return -ENODEV; + } + + ret = isl29501_reset_registers(isl29501); + if (ret < 0) + return ret; + + return isl29501_begin_acquisition(isl29501); +} + +static irqreturn_t isl29501_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct isl29501_private *isl29501 = iio_priv(indio_dev); + const unsigned long *active_mask = indio_dev->active_scan_mask; + u32 buffer[4] __aligned(8) = {}; /* 1x16-bit + naturally aligned ts */ + + if (test_bit(ISL29501_DISTANCE_SCAN_INDEX, active_mask)) + isl29501_register_read(isl29501, REG_DISTANCE, buffer); + + iio_push_to_buffers_with_timestamp(indio_dev, buffer, pf->timestamp); + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int isl29501_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct iio_dev *indio_dev; + struct isl29501_private *isl29501; + int ret; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*isl29501)); + if (!indio_dev) + return -ENOMEM; + + isl29501 = iio_priv(indio_dev); + + i2c_set_clientdata(client, indio_dev); + isl29501->client = client; + + mutex_init(&isl29501->lock); + + ret = isl29501_init_chip(isl29501); + if (ret < 0) + return ret; + + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = isl29501_channels; + indio_dev->num_channels = ARRAY_SIZE(isl29501_channels); + indio_dev->name = client->name; + indio_dev->info = &isl29501_info; + + ret = devm_iio_triggered_buffer_setup(&client->dev, indio_dev, + iio_pollfunc_store_time, + isl29501_trigger_handler, + NULL); + if (ret < 0) { + dev_err(&client->dev, "unable to setup iio triggered buffer\n"); + return ret; + } + + return devm_iio_device_register(&client->dev, indio_dev); +} + +static const struct i2c_device_id isl29501_id[] = { + {"isl29501", 0}, + {} +}; + +MODULE_DEVICE_TABLE(i2c, isl29501_id); + +#if defined(CONFIG_OF) +static const struct of_device_id isl29501_i2c_matches[] = { + { .compatible = "renesas,isl29501" }, + { } +}; +MODULE_DEVICE_TABLE(of, isl29501_i2c_matches); +#endif + +static struct i2c_driver isl29501_driver = { + .driver = { + .name = "isl29501", + }, + .id_table = isl29501_id, + .probe = isl29501_probe, +}; +module_i2c_driver(isl29501_driver); + +MODULE_AUTHOR("Mathieu Othacehe <m.othacehe@gmail.com>"); +MODULE_DESCRIPTION("ISL29501 Time of Flight sensor driver"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/proximity/mb1232.c b/drivers/iio/proximity/mb1232.c new file mode 100644 index 000000000..ad4b1fb26 --- /dev/null +++ b/drivers/iio/proximity/mb1232.c @@ -0,0 +1,272 @@ +// SPDX-License-Identifier: GPL-2.0+ +/* + * mb1232.c - Support for MaxBotix I2CXL-MaxSonar-EZ series ultrasonic + * ranger with i2c interface + * actually tested with mb1232 type + * + * Copyright (c) 2019 Andreas Klinger <ak@it-klinger.de> + * + * For details about the device see: + * https://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf + */ + +#include <linux/err.h> +#include <linux/i2c.h> +#include <linux/of_irq.h> +#include <linux/delay.h> +#include <linux/module.h> +#include <linux/bitops.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> + +/* registers of MaxSonar device */ +#define MB1232_RANGE_COMMAND 0x51 /* Command for reading range */ +#define MB1232_ADDR_UNLOCK_1 0xAA /* Command 1 for changing address */ +#define MB1232_ADDR_UNLOCK_2 0xA5 /* Command 2 for changing address */ + +struct mb1232_data { + struct i2c_client *client; + + struct mutex lock; + + /* + * optionally a gpio can be used to announce when ranging has + * finished + * since we are just using the falling trigger of it we request + * only the interrupt for announcing when data is ready to be read + */ + struct completion ranging; + int irqnr; + /* Ensure correct alignment of data to push to IIO buffer */ + struct { + s16 distance; + s64 ts __aligned(8); + } scan; +}; + +static irqreturn_t mb1232_handle_irq(int irq, void *dev_id) +{ + struct iio_dev *indio_dev = dev_id; + struct mb1232_data *data = iio_priv(indio_dev); + + complete(&data->ranging); + + return IRQ_HANDLED; +} + +static s16 mb1232_read_distance(struct mb1232_data *data) +{ + struct i2c_client *client = data->client; + int ret; + s16 distance; + __be16 buf; + + mutex_lock(&data->lock); + + reinit_completion(&data->ranging); + + ret = i2c_smbus_write_byte(client, MB1232_RANGE_COMMAND); + if (ret < 0) { + dev_err(&client->dev, "write command - err: %d\n", ret); + goto error_unlock; + } + + if (data->irqnr >= 0) { + /* it cannot take more than 100 ms */ + ret = wait_for_completion_killable_timeout(&data->ranging, + HZ/10); + if (ret < 0) + goto error_unlock; + else if (ret == 0) { + ret = -ETIMEDOUT; + goto error_unlock; + } + } else { + /* use simple sleep if announce irq is not connected */ + msleep(15); + } + + ret = i2c_master_recv(client, (char *)&buf, sizeof(buf)); + if (ret < 0) { + dev_err(&client->dev, "i2c_master_recv: ret=%d\n", ret); + goto error_unlock; + } + + distance = __be16_to_cpu(buf); + /* check for not returning misleading error codes */ + if (distance < 0) { + dev_err(&client->dev, "distance=%d\n", distance); + ret = -EINVAL; + goto error_unlock; + } + + mutex_unlock(&data->lock); + + return distance; + +error_unlock: + mutex_unlock(&data->lock); + + return ret; +} + +static irqreturn_t mb1232_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct mb1232_data *data = iio_priv(indio_dev); + + data->scan.distance = mb1232_read_distance(data); + if (data->scan.distance < 0) + goto err; + + iio_push_to_buffers_with_timestamp(indio_dev, &data->scan, + pf->timestamp); + +err: + iio_trigger_notify_done(indio_dev->trig); + return IRQ_HANDLED; +} + +static int mb1232_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *channel, int *val, + int *val2, long mask) +{ + struct mb1232_data *data = iio_priv(indio_dev); + int ret; + + if (channel->type != IIO_DISTANCE) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = mb1232_read_distance(data); + if (ret < 0) + return ret; + *val = ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + /* 1 LSB is 1 cm */ + *val = 0; + *val2 = 10000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_chan_spec mb1232_channels[] = { + { + .type = IIO_DISTANCE, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + .scan_index = 0, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_CPU, + }, + }, + IIO_CHAN_SOFT_TIMESTAMP(1), +}; + +static const struct iio_info mb1232_info = { + .read_raw = mb1232_read_raw, +}; + +static int mb1232_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct iio_dev *indio_dev; + struct mb1232_data *data; + int ret; + struct device *dev = &client->dev; + + if (!i2c_check_functionality(client->adapter, + I2C_FUNC_SMBUS_READ_BYTE | + I2C_FUNC_SMBUS_WRITE_BYTE)) + return -ENODEV; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->client = client; + + indio_dev->info = &mb1232_info; + indio_dev->name = id->name; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = mb1232_channels; + indio_dev->num_channels = ARRAY_SIZE(mb1232_channels); + + mutex_init(&data->lock); + + init_completion(&data->ranging); + + data->irqnr = irq_of_parse_and_map(dev->of_node, 0); + if (data->irqnr <= 0) { + /* usage of interrupt is optional */ + data->irqnr = -1; + } else { + ret = devm_request_irq(dev, data->irqnr, mb1232_handle_irq, + IRQF_TRIGGER_FALLING, id->name, indio_dev); + if (ret < 0) { + dev_err(dev, "request_irq: %d\n", ret); + return ret; + } + } + + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, mb1232_trigger_handler, NULL); + if (ret < 0) { + dev_err(dev, "setup of iio triggered buffer failed\n"); + return ret; + } + + return devm_iio_device_register(dev, indio_dev); +} + +static const struct of_device_id of_mb1232_match[] = { + { .compatible = "maxbotix,mb1202", }, + { .compatible = "maxbotix,mb1212", }, + { .compatible = "maxbotix,mb1222", }, + { .compatible = "maxbotix,mb1232", }, + { .compatible = "maxbotix,mb1242", }, + { .compatible = "maxbotix,mb7040", }, + { .compatible = "maxbotix,mb7137", }, + {}, +}; + +MODULE_DEVICE_TABLE(of, of_mb1232_match); + +static const struct i2c_device_id mb1232_id[] = { + { "maxbotix-mb1202", }, + { "maxbotix-mb1212", }, + { "maxbotix-mb1222", }, + { "maxbotix-mb1232", }, + { "maxbotix-mb1242", }, + { "maxbotix-mb7040", }, + { "maxbotix-mb7137", }, + { } +}; +MODULE_DEVICE_TABLE(i2c, mb1232_id); + +static struct i2c_driver mb1232_driver = { + .driver = { + .name = "maxbotix-mb1232", + .of_match_table = of_mb1232_match, + }, + .probe = mb1232_probe, + .id_table = mb1232_id, +}; +module_i2c_driver(mb1232_driver); + +MODULE_AUTHOR("Andreas Klinger <ak@it-klinger.de>"); +MODULE_DESCRIPTION("Maxbotix I2CXL-MaxSonar i2c ultrasonic ranger driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/proximity/ping.c b/drivers/iio/proximity/ping.c new file mode 100644 index 000000000..1283ac1c2 --- /dev/null +++ b/drivers/iio/proximity/ping.c @@ -0,0 +1,333 @@ +// 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 iio_dev *indio_dev) +{ + struct ping_data *data = iio_priv(indio_dev); + int ret; + ktime_t ktime_dt; + s64 dt_ns; + u32 time_ns, distance_mm; + struct platform_device *pdev = to_platform_device(data->dev); + + /* + * 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) +{ + int ret; + + if (channel->type != IIO_DISTANCE) + return -EINVAL; + + switch (info) { + case IIO_CHAN_INFO_RAW: + ret = ping_read(indio_dev); + 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_laser_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->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"); diff --git a/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c new file mode 100644 index 000000000..d854b8d5f --- /dev/null +++ b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c @@ -0,0 +1,380 @@ +// SPDX-License-Identifier: GPL-2.0+ +/* + * pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor + * + * Copyright (C) 2015, 2017-2018 + * Author: Matt Ranostay <matt.ranostay@konsulko.com> + * + * TODO: interrupt mode, and signal strength reporting + */ + +#include <linux/err.h> +#include <linux/init.h> +#include <linux/i2c.h> +#include <linux/delay.h> +#include <linux/module.h> +#include <linux/mod_devicetable.h> +#include <linux/pm_runtime.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/trigger_consumer.h> + +#define LIDAR_REG_CONTROL 0x00 +#define LIDAR_REG_CONTROL_ACQUIRE BIT(2) + +#define LIDAR_REG_STATUS 0x01 +#define LIDAR_REG_STATUS_INVALID BIT(3) +#define LIDAR_REG_STATUS_READY BIT(0) + +#define LIDAR_REG_DATA_HBYTE 0x0f +#define LIDAR_REG_DATA_LBYTE 0x10 +#define LIDAR_REG_DATA_WORD_READ BIT(7) + +#define LIDAR_REG_PWR_CONTROL 0x65 + +#define LIDAR_DRV_NAME "lidar" + +struct lidar_data { + struct iio_dev *indio_dev; + struct i2c_client *client; + + int (*xfer)(struct lidar_data *data, u8 reg, u8 *val, int len); + int i2c_enabled; + + /* Ensure timestamp is naturally aligned */ + struct { + u16 chan; + s64 timestamp __aligned(8); + } scan; +}; + +static const struct iio_chan_spec lidar_channels[] = { + { + .type = IIO_DISTANCE, + .info_mask_separate = + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE), + .scan_index = 0, + .scan_type = { + .sign = 'u', + .realbits = 16, + .storagebits = 16, + }, + }, + IIO_CHAN_SOFT_TIMESTAMP(1), +}; + +static int lidar_i2c_xfer(struct lidar_data *data, u8 reg, u8 *val, int len) +{ + struct i2c_client *client = data->client; + struct i2c_msg msg[2]; + int ret; + + msg[0].addr = client->addr; + msg[0].flags = client->flags | I2C_M_STOP; + msg[0].len = 1; + msg[0].buf = (char *) ® + + msg[1].addr = client->addr; + msg[1].flags = client->flags | I2C_M_RD; + msg[1].len = len; + msg[1].buf = (char *) val; + + ret = i2c_transfer(client->adapter, msg, 2); + + return (ret == 2) ? 0 : -EIO; +} + +static int lidar_smbus_xfer(struct lidar_data *data, u8 reg, u8 *val, int len) +{ + struct i2c_client *client = data->client; + int ret; + + /* + * Device needs a STOP condition between address write, and data read + * so in turn i2c_smbus_read_byte_data cannot be used + */ + + while (len--) { + ret = i2c_smbus_write_byte(client, reg++); + if (ret < 0) { + dev_err(&client->dev, "cannot write addr value"); + return ret; + } + + ret = i2c_smbus_read_byte(client); + if (ret < 0) { + dev_err(&client->dev, "cannot read data value"); + return ret; + } + + *(val++) = ret; + } + + return 0; +} + +static int lidar_read_byte(struct lidar_data *data, u8 reg) +{ + int ret; + u8 val; + + ret = data->xfer(data, reg, &val, 1); + if (ret < 0) + return ret; + + return val; +} + +static inline int lidar_write_control(struct lidar_data *data, int val) +{ + return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val); +} + +static inline int lidar_write_power(struct lidar_data *data, int val) +{ + return i2c_smbus_write_byte_data(data->client, + LIDAR_REG_PWR_CONTROL, val); +} + +static int lidar_read_measurement(struct lidar_data *data, u16 *reg) +{ + __be16 value; + int ret = data->xfer(data, LIDAR_REG_DATA_HBYTE | + (data->i2c_enabled ? LIDAR_REG_DATA_WORD_READ : 0), + (u8 *) &value, 2); + + if (!ret) + *reg = be16_to_cpu(value); + + return ret; +} + +static int lidar_get_measurement(struct lidar_data *data, u16 *reg) +{ + struct i2c_client *client = data->client; + int tries = 10; + int ret; + + pm_runtime_get_sync(&client->dev); + + /* start sample */ + ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE); + if (ret < 0) { + dev_err(&client->dev, "cannot send start measurement command"); + pm_runtime_put_noidle(&client->dev); + return ret; + } + + while (tries--) { + usleep_range(1000, 2000); + + ret = lidar_read_byte(data, LIDAR_REG_STATUS); + if (ret < 0) + break; + + /* return -EINVAL since laser is likely pointed out of range */ + if (ret & LIDAR_REG_STATUS_INVALID) { + *reg = 0; + ret = -EINVAL; + break; + } + + /* sample ready to read */ + if (!(ret & LIDAR_REG_STATUS_READY)) { + ret = lidar_read_measurement(data, reg); + break; + } + ret = -EIO; + } + pm_runtime_mark_last_busy(&client->dev); + pm_runtime_put_autosuspend(&client->dev); + + return ret; +} + +static int lidar_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct lidar_data *data = iio_priv(indio_dev); + int ret = -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: { + u16 reg; + + if (iio_device_claim_direct_mode(indio_dev)) + return -EBUSY; + + ret = lidar_get_measurement(data, ®); + if (!ret) { + *val = reg; + ret = IIO_VAL_INT; + } + iio_device_release_direct_mode(indio_dev); + break; + } + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = 10000; + ret = IIO_VAL_INT_PLUS_MICRO; + break; + } + + return ret; +} + +static irqreturn_t lidar_trigger_handler(int irq, void *private) +{ + struct iio_poll_func *pf = private; + struct iio_dev *indio_dev = pf->indio_dev; + struct lidar_data *data = iio_priv(indio_dev); + int ret; + + ret = lidar_get_measurement(data, &data->scan.chan); + if (!ret) { + iio_push_to_buffers_with_timestamp(indio_dev, &data->scan, + iio_get_time_ns(indio_dev)); + } else if (ret != -EINVAL) { + dev_err(&data->client->dev, "cannot read LIDAR measurement"); + } + + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static const struct iio_info lidar_info = { + .read_raw = lidar_read_raw, +}; + +static int lidar_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct lidar_data *data; + struct iio_dev *indio_dev; + int ret; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + data = iio_priv(indio_dev); + + if (i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) { + data->xfer = lidar_i2c_xfer; + data->i2c_enabled = 1; + } else if (i2c_check_functionality(client->adapter, + I2C_FUNC_SMBUS_WORD_DATA | I2C_FUNC_SMBUS_BYTE)) + data->xfer = lidar_smbus_xfer; + else + return -EOPNOTSUPP; + + indio_dev->info = &lidar_info; + indio_dev->name = LIDAR_DRV_NAME; + indio_dev->channels = lidar_channels; + indio_dev->num_channels = ARRAY_SIZE(lidar_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + i2c_set_clientdata(client, indio_dev); + + data->client = client; + data->indio_dev = indio_dev; + + ret = iio_triggered_buffer_setup(indio_dev, NULL, + lidar_trigger_handler, NULL); + if (ret) + return ret; + + ret = iio_device_register(indio_dev); + if (ret) + goto error_unreg_buffer; + + pm_runtime_set_autosuspend_delay(&client->dev, 1000); + pm_runtime_use_autosuspend(&client->dev); + + ret = pm_runtime_set_active(&client->dev); + if (ret) + goto error_unreg_buffer; + pm_runtime_enable(&client->dev); + pm_runtime_idle(&client->dev); + + return 0; + +error_unreg_buffer: + iio_triggered_buffer_cleanup(indio_dev); + + return ret; +} + +static int lidar_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + + iio_device_unregister(indio_dev); + iio_triggered_buffer_cleanup(indio_dev); + + pm_runtime_disable(&client->dev); + pm_runtime_set_suspended(&client->dev); + + return 0; +} + +static const struct i2c_device_id lidar_id[] = { + {"lidar-lite-v2", 0}, + {"lidar-lite-v3", 0}, + { }, +}; +MODULE_DEVICE_TABLE(i2c, lidar_id); + +static const struct of_device_id lidar_dt_ids[] = { + { .compatible = "pulsedlight,lidar-lite-v2" }, + { .compatible = "grmn,lidar-lite-v3" }, + { } +}; +MODULE_DEVICE_TABLE(of, lidar_dt_ids); + +#ifdef CONFIG_PM +static int lidar_pm_runtime_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct lidar_data *data = iio_priv(indio_dev); + + return lidar_write_power(data, 0x0f); +} + +static int lidar_pm_runtime_resume(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct lidar_data *data = iio_priv(indio_dev); + int ret = lidar_write_power(data, 0); + + /* regulator and FPGA needs settling time */ + usleep_range(15000, 20000); + + return ret; +} +#endif + +static const struct dev_pm_ops lidar_pm_ops = { + SET_RUNTIME_PM_OPS(lidar_pm_runtime_suspend, + lidar_pm_runtime_resume, NULL) +}; + +static struct i2c_driver lidar_driver = { + .driver = { + .name = LIDAR_DRV_NAME, + .of_match_table = lidar_dt_ids, + .pm = &lidar_pm_ops, + }, + .probe = lidar_probe, + .remove = lidar_remove, + .id_table = lidar_id, +}; +module_i2c_driver(lidar_driver); + +MODULE_AUTHOR("Matt Ranostay <matt.ranostay@konsulko.com>"); +MODULE_DESCRIPTION("PulsedLight LIDAR sensor"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/proximity/rfd77402.c b/drivers/iio/proximity/rfd77402.c new file mode 100644 index 000000000..7a0472323 --- /dev/null +++ b/drivers/iio/proximity/rfd77402.c @@ -0,0 +1,348 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * rfd77402.c - Support for RF Digital RFD77402 Time-of-Flight (distance) sensor + * + * Copyright 2017 Peter Meerwald-Stadler <pmeerw@pmeerw.net> + * + * 7-bit I2C slave address 0x4c + * + * TODO: interrupt + * https://media.digikey.com/pdf/Data%20Sheets/RF%20Digital%20PDFs/RFD77402.pdf + */ + +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/delay.h> + +#include <linux/iio/iio.h> + +#define RFD77402_DRV_NAME "rfd77402" + +#define RFD77402_ICSR 0x00 /* Interrupt Control Status Register */ +#define RFD77402_ICSR_INT_MODE BIT(2) +#define RFD77402_ICSR_INT_POL BIT(3) +#define RFD77402_ICSR_RESULT BIT(4) +#define RFD77402_ICSR_M2H_MSG BIT(5) +#define RFD77402_ICSR_H2M_MSG BIT(6) +#define RFD77402_ICSR_RESET BIT(7) + +#define RFD77402_CMD_R 0x04 +#define RFD77402_CMD_SINGLE 0x01 +#define RFD77402_CMD_STANDBY 0x10 +#define RFD77402_CMD_MCPU_OFF 0x11 +#define RFD77402_CMD_MCPU_ON 0x12 +#define RFD77402_CMD_RESET BIT(6) +#define RFD77402_CMD_VALID BIT(7) + +#define RFD77402_STATUS_R 0x06 +#define RFD77402_STATUS_PM_MASK GENMASK(4, 0) +#define RFD77402_STATUS_STANDBY 0x00 +#define RFD77402_STATUS_MCPU_OFF 0x10 +#define RFD77402_STATUS_MCPU_ON 0x18 + +#define RFD77402_RESULT_R 0x08 +#define RFD77402_RESULT_DIST_MASK GENMASK(12, 2) +#define RFD77402_RESULT_ERR_MASK GENMASK(14, 13) +#define RFD77402_RESULT_VALID BIT(15) + +#define RFD77402_PMU_CFG 0x14 +#define RFD77402_PMU_MCPU_INIT BIT(9) + +#define RFD77402_I2C_INIT_CFG 0x1c +#define RFD77402_I2C_ADDR_INCR BIT(0) +#define RFD77402_I2C_DATA_INCR BIT(2) +#define RFD77402_I2C_HOST_DEBUG BIT(5) +#define RFD77402_I2C_MCPU_DEBUG BIT(6) + +#define RFD77402_CMD_CFGR_A 0x0c +#define RFD77402_CMD_CFGR_B 0x0e +#define RFD77402_HFCFG_0 0x20 +#define RFD77402_HFCFG_1 0x22 +#define RFD77402_HFCFG_2 0x24 +#define RFD77402_HFCFG_3 0x26 + +#define RFD77402_MOD_CHIP_ID 0x28 + +/* magic configuration values from datasheet */ +static const struct { + u8 reg; + u16 val; +} rf77402_tof_config[] = { + {RFD77402_CMD_CFGR_A, 0xe100}, + {RFD77402_CMD_CFGR_B, 0x10ff}, + {RFD77402_HFCFG_0, 0x07d0}, + {RFD77402_HFCFG_1, 0x5008}, + {RFD77402_HFCFG_2, 0xa041}, + {RFD77402_HFCFG_3, 0x45d4}, +}; + +struct rfd77402_data { + struct i2c_client *client; + /* Serialize reads from the sensor */ + struct mutex lock; +}; + +static const struct iio_chan_spec rfd77402_channels[] = { + { + .type = IIO_DISTANCE, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, +}; + +static int rfd77402_set_state(struct rfd77402_data *data, u8 state, u16 check) +{ + int ret; + + ret = i2c_smbus_write_byte_data(data->client, RFD77402_CMD_R, + state | RFD77402_CMD_VALID); + if (ret < 0) + return ret; + + usleep_range(10000, 20000); + + ret = i2c_smbus_read_word_data(data->client, RFD77402_STATUS_R); + if (ret < 0) + return ret; + if ((ret & RFD77402_STATUS_PM_MASK) != check) + return -ENODEV; + + return 0; +} + +static int rfd77402_measure(struct rfd77402_data *data) +{ + int ret; + int tries = 10; + + ret = rfd77402_set_state(data, RFD77402_CMD_MCPU_ON, + RFD77402_STATUS_MCPU_ON); + if (ret < 0) + return ret; + + ret = i2c_smbus_write_byte_data(data->client, RFD77402_CMD_R, + RFD77402_CMD_SINGLE | + RFD77402_CMD_VALID); + if (ret < 0) + goto err; + + while (tries-- > 0) { + ret = i2c_smbus_read_byte_data(data->client, RFD77402_ICSR); + if (ret < 0) + goto err; + if (ret & RFD77402_ICSR_RESULT) + break; + msleep(20); + } + + if (tries < 0) { + ret = -ETIMEDOUT; + goto err; + } + + ret = i2c_smbus_read_word_data(data->client, RFD77402_RESULT_R); + if (ret < 0) + goto err; + + if ((ret & RFD77402_RESULT_ERR_MASK) || + !(ret & RFD77402_RESULT_VALID)) { + ret = -EIO; + goto err; + } + + return (ret & RFD77402_RESULT_DIST_MASK) >> 2; + +err: + rfd77402_set_state(data, RFD77402_CMD_MCPU_OFF, + RFD77402_STATUS_MCPU_OFF); + return ret; +} + +static int rfd77402_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct rfd77402_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + mutex_lock(&data->lock); + ret = rfd77402_measure(data); + mutex_unlock(&data->lock); + if (ret < 0) + return ret; + *val = ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + /* 1 LSB is 1 mm */ + *val = 0; + *val2 = 1000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info rfd77402_info = { + .read_raw = rfd77402_read_raw, +}; + +static int rfd77402_init(struct rfd77402_data *data) +{ + int ret, i; + + ret = rfd77402_set_state(data, RFD77402_CMD_STANDBY, + RFD77402_STATUS_STANDBY); + if (ret < 0) + return ret; + + /* configure INT pad as push-pull, active low */ + ret = i2c_smbus_write_byte_data(data->client, RFD77402_ICSR, + RFD77402_ICSR_INT_MODE); + if (ret < 0) + return ret; + + /* I2C configuration */ + ret = i2c_smbus_write_word_data(data->client, RFD77402_I2C_INIT_CFG, + RFD77402_I2C_ADDR_INCR | + RFD77402_I2C_DATA_INCR | + RFD77402_I2C_HOST_DEBUG | + RFD77402_I2C_MCPU_DEBUG); + if (ret < 0) + return ret; + + /* set initialization */ + ret = i2c_smbus_write_word_data(data->client, RFD77402_PMU_CFG, 0x0500); + if (ret < 0) + return ret; + + ret = rfd77402_set_state(data, RFD77402_CMD_MCPU_OFF, + RFD77402_STATUS_MCPU_OFF); + if (ret < 0) + return ret; + + /* set initialization */ + ret = i2c_smbus_write_word_data(data->client, RFD77402_PMU_CFG, 0x0600); + if (ret < 0) + return ret; + + ret = rfd77402_set_state(data, RFD77402_CMD_MCPU_ON, + RFD77402_STATUS_MCPU_ON); + if (ret < 0) + return ret; + + for (i = 0; i < ARRAY_SIZE(rf77402_tof_config); i++) { + ret = i2c_smbus_write_word_data(data->client, + rf77402_tof_config[i].reg, + rf77402_tof_config[i].val); + if (ret < 0) + return ret; + } + + ret = rfd77402_set_state(data, RFD77402_CMD_STANDBY, + RFD77402_STATUS_STANDBY); + + return ret; +} + +static int rfd77402_powerdown(struct rfd77402_data *data) +{ + return rfd77402_set_state(data, RFD77402_CMD_STANDBY, + RFD77402_STATUS_STANDBY); +} + +static int rfd77402_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct rfd77402_data *data; + struct iio_dev *indio_dev; + int ret; + + ret = i2c_smbus_read_word_data(client, RFD77402_MOD_CHIP_ID); + if (ret < 0) + return ret; + if (ret != 0xad01 && ret != 0xad02) /* known chip ids */ + return -ENODEV; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->client = client; + mutex_init(&data->lock); + + indio_dev->info = &rfd77402_info; + indio_dev->channels = rfd77402_channels; + indio_dev->num_channels = ARRAY_SIZE(rfd77402_channels); + indio_dev->name = RFD77402_DRV_NAME; + indio_dev->modes = INDIO_DIRECT_MODE; + + ret = rfd77402_init(data); + if (ret < 0) + return ret; + + ret = iio_device_register(indio_dev); + if (ret) + goto err_powerdown; + + return 0; + +err_powerdown: + rfd77402_powerdown(data); + return ret; +} + +static int rfd77402_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + + iio_device_unregister(indio_dev); + rfd77402_powerdown(iio_priv(indio_dev)); + + return 0; +} + +#ifdef CONFIG_PM_SLEEP +static int rfd77402_suspend(struct device *dev) +{ + struct rfd77402_data *data = iio_priv(i2c_get_clientdata( + to_i2c_client(dev))); + + return rfd77402_powerdown(data); +} + +static int rfd77402_resume(struct device *dev) +{ + struct rfd77402_data *data = iio_priv(i2c_get_clientdata( + to_i2c_client(dev))); + + return rfd77402_init(data); +} +#endif + +static SIMPLE_DEV_PM_OPS(rfd77402_pm_ops, rfd77402_suspend, rfd77402_resume); + +static const struct i2c_device_id rfd77402_id[] = { + { "rfd77402", 0}, + { } +}; +MODULE_DEVICE_TABLE(i2c, rfd77402_id); + +static struct i2c_driver rfd77402_driver = { + .driver = { + .name = RFD77402_DRV_NAME, + .pm = &rfd77402_pm_ops, + }, + .probe = rfd77402_probe, + .remove = rfd77402_remove, + .id_table = rfd77402_id, +}; + +module_i2c_driver(rfd77402_driver); + +MODULE_AUTHOR("Peter Meerwald-Stadler <pmeerw@pmeerw.net>"); +MODULE_DESCRIPTION("RFD77402 Time-of-Flight sensor driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/proximity/srf04.c b/drivers/iio/proximity/srf04.c new file mode 100644 index 000000000..420c37c72 --- /dev/null +++ b/drivers/iio/proximity/srf04.c @@ -0,0 +1,408 @@ +// SPDX-License-Identifier: GPL-2.0-or-later +/* + * SRF04: ultrasonic sensor for distance measuring by using GPIOs + * + * Copyright (c) 2017 Andreas Klinger <ak@it-klinger.de> + * + * For details about the device see: + * https://www.robot-electronics.co.uk/htm/srf04tech.htm + * + * the measurement cycle as timing diagram looks like: + * + * +---+ + * GPIO | | + * trig: --+ +------------------------------------------------------ + * ^ ^ + * |<->| + * udelay(trigger_pulse_us) + * + * ultra +-+ +-+ +-+ + * sonic | | | | | | + * burst: ---------+ +-+ +-+ +----------------------------------------- + * . + * ultra . +-+ +-+ +-+ + * sonic . | | | | | | + * echo: ----------------------------------+ +-+ +-+ +---------------- + * . . + * +------------------------+ + * GPIO | | + * echo: -------------------+ +--------------- + * ^ ^ + * interrupt interrupt + * (ts_rising) (ts_falling) + * |<---------------------->| + * pulse time measured + * --> one round trip of ultra sonic waves + */ +#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/pm_runtime.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +struct srf04_cfg { + unsigned long trigger_pulse_us; +}; + +struct srf04_data { + struct device *dev; + struct gpio_desc *gpiod_trig; + struct gpio_desc *gpiod_echo; + struct gpio_desc *gpiod_power; + struct mutex lock; + int irqnr; + ktime_t ts_rising; + ktime_t ts_falling; + struct completion rising; + struct completion falling; + const struct srf04_cfg *cfg; + int startup_time_ms; +}; + +static const struct srf04_cfg srf04_cfg = { + .trigger_pulse_us = 10, +}; + +static const struct srf04_cfg mb_lv_cfg = { + .trigger_pulse_us = 20, +}; + +static irqreturn_t srf04_handle_irq(int irq, void *dev_id) +{ + struct iio_dev *indio_dev = dev_id; + struct srf04_data *data = iio_priv(indio_dev); + ktime_t now = ktime_get(); + + if (gpiod_get_value(data->gpiod_echo)) { + data->ts_rising = now; + complete(&data->rising); + } else { + data->ts_falling = now; + complete(&data->falling); + } + + return IRQ_HANDLED; +} + +static int srf04_read(struct srf04_data *data) +{ + int ret; + ktime_t ktime_dt; + u64 dt_ns; + u32 time_ns, distance_mm; + + if (data->gpiod_power) + pm_runtime_get_sync(data->dev); + + /* + * 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_trig, 1); + udelay(data->cfg->trigger_pulse_us); + gpiod_set_value(data->gpiod_trig, 0); + + if (data->gpiod_power) { + pm_runtime_mark_last_busy(data->dev); + pm_runtime_put_autosuspend(data->dev); + } + + /* 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) { + mutex_unlock(&data->lock); + return ret; + } else if (ret == 0) { + mutex_unlock(&data->lock); + return -ETIMEDOUT; + } + + /* it cannot take more than 50 ms until echo is falling */ + ret = wait_for_completion_killable_timeout(&data->falling, HZ/20); + if (ret < 0) { + mutex_unlock(&data->lock); + return ret; + } else if (ret == 0) { + mutex_unlock(&data->lock); + return -ETIMEDOUT; + } + + ktime_dt = ktime_sub(data->ts_falling, data->ts_rising); + + mutex_unlock(&data->lock); + + dt_ns = ktime_to_ns(ktime_dt); + /* + * measuring more than 6,45 meters is beyond the capabilities of + * the supported sensors + * ==> filter out invalid results for not measuring echos of + * another us sensor + * + * formula: + * distance 6,45 * 2 m + * time = ---------- = ------------ = 40438871 ns + * speed 319 m/s + * + * using a minimum speed at -20 °C of 319 m/s + */ + if (dt_ns > 40438871) + return -EIO; + + time_ns = dt_ns; + + /* + * 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 * 106 + * distance = ------ * ------- = ------------ + * 10^6 2 617176 + * with time in ns + * and distance in mm (one way) + * + * because we limit to 6,45 meters the multiplication with 106 just + * fits into 32 bit + */ + distance_mm = time_ns * 106 / 617176; + + return distance_mm; +} + +static int srf04_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *channel, int *val, + int *val2, long info) +{ + struct srf04_data *data = iio_priv(indio_dev); + int ret; + + if (channel->type != IIO_DISTANCE) + return -EINVAL; + + switch (info) { + case IIO_CHAN_INFO_RAW: + ret = srf04_read(data); + if (ret < 0) + return ret; + *val = ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + /* + * theoretical maximum resolution is 3 mm + * 1 LSB is 1 mm + */ + *val = 0; + *val2 = 1000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info srf04_iio_info = { + .read_raw = srf04_read_raw, +}; + +static const struct iio_chan_spec srf04_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_srf04_match[] = { + { .compatible = "devantech,srf04", .data = &srf04_cfg}, + { .compatible = "maxbotix,mb1000", .data = &mb_lv_cfg}, + { .compatible = "maxbotix,mb1010", .data = &mb_lv_cfg}, + { .compatible = "maxbotix,mb1020", .data = &mb_lv_cfg}, + { .compatible = "maxbotix,mb1030", .data = &mb_lv_cfg}, + { .compatible = "maxbotix,mb1040", .data = &mb_lv_cfg}, + {}, +}; + +MODULE_DEVICE_TABLE(of, of_srf04_match); + +static int srf04_probe(struct platform_device *pdev) +{ + struct device *dev = &pdev->dev; + struct srf04_data *data; + struct iio_dev *indio_dev; + int ret; + + indio_dev = devm_iio_device_alloc(dev, sizeof(struct srf04_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_match_device(of_srf04_match, dev)->data; + + mutex_init(&data->lock); + init_completion(&data->rising); + init_completion(&data->falling); + + data->gpiod_trig = devm_gpiod_get(dev, "trig", GPIOD_OUT_LOW); + if (IS_ERR(data->gpiod_trig)) { + dev_err(dev, "failed to get trig-gpios: err=%ld\n", + PTR_ERR(data->gpiod_trig)); + return PTR_ERR(data->gpiod_trig); + } + + data->gpiod_echo = devm_gpiod_get(dev, "echo", GPIOD_IN); + if (IS_ERR(data->gpiod_echo)) { + dev_err(dev, "failed to get echo-gpios: err=%ld\n", + PTR_ERR(data->gpiod_echo)); + return PTR_ERR(data->gpiod_echo); + } + + data->gpiod_power = devm_gpiod_get_optional(dev, "power", + GPIOD_OUT_LOW); + if (IS_ERR(data->gpiod_power)) { + dev_err(dev, "failed to get power-gpios: err=%ld\n", + PTR_ERR(data->gpiod_power)); + return PTR_ERR(data->gpiod_power); + } + if (data->gpiod_power) { + + if (of_property_read_u32(dev->of_node, "startup-time-ms", + &data->startup_time_ms)) + data->startup_time_ms = 100; + dev_dbg(dev, "using power gpio: startup-time-ms=%d\n", + data->startup_time_ms); + } + + if (gpiod_cansleep(data->gpiod_echo)) { + dev_err(data->dev, "cansleep-GPIOs not supported\n"); + return -ENODEV; + } + + data->irqnr = gpiod_to_irq(data->gpiod_echo); + if (data->irqnr < 0) { + dev_err(data->dev, "gpiod_to_irq: %d\n", data->irqnr); + return data->irqnr; + } + + ret = devm_request_irq(dev, data->irqnr, srf04_handle_irq, + IRQF_TRIGGER_RISING | IRQF_TRIGGER_FALLING, + pdev->name, indio_dev); + if (ret < 0) { + dev_err(data->dev, "request_irq: %d\n", ret); + return ret; + } + + platform_set_drvdata(pdev, indio_dev); + + indio_dev->name = "srf04"; + indio_dev->info = &srf04_iio_info; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = srf04_chan_spec; + indio_dev->num_channels = ARRAY_SIZE(srf04_chan_spec); + + ret = iio_device_register(indio_dev); + if (ret < 0) { + dev_err(data->dev, "iio_device_register: %d\n", ret); + return ret; + } + + if (data->gpiod_power) { + pm_runtime_set_autosuspend_delay(data->dev, 1000); + pm_runtime_use_autosuspend(data->dev); + + ret = pm_runtime_set_active(data->dev); + if (ret) { + dev_err(data->dev, "pm_runtime_set_active: %d\n", ret); + iio_device_unregister(indio_dev); + } + + pm_runtime_enable(data->dev); + pm_runtime_idle(data->dev); + } + + return ret; +} + +static int srf04_remove(struct platform_device *pdev) +{ + struct iio_dev *indio_dev = platform_get_drvdata(pdev); + struct srf04_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + + if (data->gpiod_power) { + pm_runtime_disable(data->dev); + pm_runtime_set_suspended(data->dev); + } + + return 0; +} + +static int __maybe_unused srf04_pm_runtime_suspend(struct device *dev) +{ + struct platform_device *pdev = container_of(dev, + struct platform_device, dev); + struct iio_dev *indio_dev = platform_get_drvdata(pdev); + struct srf04_data *data = iio_priv(indio_dev); + + gpiod_set_value(data->gpiod_power, 0); + + return 0; +} + +static int __maybe_unused srf04_pm_runtime_resume(struct device *dev) +{ + struct platform_device *pdev = container_of(dev, + struct platform_device, dev); + struct iio_dev *indio_dev = platform_get_drvdata(pdev); + struct srf04_data *data = iio_priv(indio_dev); + + gpiod_set_value(data->gpiod_power, 1); + msleep(data->startup_time_ms); + + return 0; +} + +static const struct dev_pm_ops srf04_pm_ops = { + SET_RUNTIME_PM_OPS(srf04_pm_runtime_suspend, + srf04_pm_runtime_resume, NULL) +}; + +static struct platform_driver srf04_driver = { + .probe = srf04_probe, + .remove = srf04_remove, + .driver = { + .name = "srf04-gpio", + .of_match_table = of_srf04_match, + .pm = &srf04_pm_ops, + }, +}; + +module_platform_driver(srf04_driver); + +MODULE_AUTHOR("Andreas Klinger <ak@it-klinger.de>"); +MODULE_DESCRIPTION("SRF04 ultrasonic sensor for distance measuring using GPIOs"); +MODULE_LICENSE("GPL"); +MODULE_ALIAS("platform:srf04"); diff --git a/drivers/iio/proximity/srf08.c b/drivers/iio/proximity/srf08.c new file mode 100644 index 000000000..9b0886760 --- /dev/null +++ b/drivers/iio/proximity/srf08.c @@ -0,0 +1,559 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * srf08.c - Support for Devantech SRFxx ultrasonic ranger + * with i2c interface + * actually supported are srf02, srf08, srf10 + * + * Copyright (c) 2016, 2017 Andreas Klinger <ak@it-klinger.de> + * + * For details about the device see: + * https://www.robot-electronics.co.uk/htm/srf08tech.html + * https://www.robot-electronics.co.uk/htm/srf10tech.htm + * https://www.robot-electronics.co.uk/htm/srf02tech.htm + */ + +#include <linux/err.h> +#include <linux/i2c.h> +#include <linux/delay.h> +#include <linux/module.h> +#include <linux/bitops.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger_consumer.h> +#include <linux/iio/triggered_buffer.h> + +/* registers of SRF08 device */ +#define SRF08_WRITE_COMMAND 0x00 /* Command Register */ +#define SRF08_WRITE_MAX_GAIN 0x01 /* Max Gain Register: 0 .. 31 */ +#define SRF08_WRITE_RANGE 0x02 /* Range Register: 0 .. 255 */ +#define SRF08_READ_SW_REVISION 0x00 /* Software Revision */ +#define SRF08_READ_LIGHT 0x01 /* Light Sensor during last echo */ +#define SRF08_READ_ECHO_1_HIGH 0x02 /* Range of first echo received */ +#define SRF08_READ_ECHO_1_LOW 0x03 /* Range of first echo received */ + +#define SRF08_CMD_RANGING_CM 0x51 /* Ranging Mode - Result in cm */ + +enum srf08_sensor_type { + SRF02, + SRF08, + SRF10, + SRF_MAX_TYPE +}; + +struct srf08_chip_info { + const int *sensitivity_avail; + int num_sensitivity_avail; + int sensitivity_default; + + /* default value of Range in mm */ + int range_default; +}; + +struct srf08_data { + struct i2c_client *client; + + /* + * Gain in the datasheet is called sensitivity here to distinct it + * from the gain used with amplifiers of adc's + */ + int sensitivity; + + /* max. Range in mm */ + int range_mm; + struct mutex lock; + + /* Ensure timestamp is naturally aligned */ + struct { + s16 chan; + s64 timestamp __aligned(8); + } scan; + + /* Sensor-Type */ + enum srf08_sensor_type sensor_type; + + /* Chip-specific information */ + const struct srf08_chip_info *chip_info; +}; + +/* + * in the documentation one can read about the "Gain" of the device + * which is used here for amplifying the signal and filtering out unwanted + * ones. + * But with ADC's this term is already used differently and that's why it + * is called "Sensitivity" here. + */ +static const struct srf08_chip_info srf02_chip_info = { + .sensitivity_avail = NULL, + .num_sensitivity_avail = 0, + .sensitivity_default = 0, + + .range_default = 0, +}; + +static const int srf08_sensitivity_avail[] = { + 94, 97, 100, 103, 107, 110, 114, 118, + 123, 128, 133, 139, 145, 152, 159, 168, + 177, 187, 199, 212, 227, 245, 265, 288, + 317, 352, 395, 450, 524, 626, 777, 1025 + }; + +static const struct srf08_chip_info srf08_chip_info = { + .sensitivity_avail = srf08_sensitivity_avail, + .num_sensitivity_avail = ARRAY_SIZE(srf08_sensitivity_avail), + .sensitivity_default = 1025, + + .range_default = 6020, +}; + +static const int srf10_sensitivity_avail[] = { + 40, 40, 50, 60, 70, 80, 100, 120, + 140, 200, 250, 300, 350, 400, 500, 600, + 700, + }; + +static const struct srf08_chip_info srf10_chip_info = { + .sensitivity_avail = srf10_sensitivity_avail, + .num_sensitivity_avail = ARRAY_SIZE(srf10_sensitivity_avail), + .sensitivity_default = 700, + + .range_default = 6020, +}; + +static int srf08_read_ranging(struct srf08_data *data) +{ + struct i2c_client *client = data->client; + int ret, i; + int waittime; + + mutex_lock(&data->lock); + + ret = i2c_smbus_write_byte_data(data->client, + SRF08_WRITE_COMMAND, SRF08_CMD_RANGING_CM); + if (ret < 0) { + dev_err(&client->dev, "write command - err: %d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + /* + * we read here until a correct version number shows up as + * suggested by the documentation + * + * with an ultrasonic speed of 343 m/s and a roundtrip of it + * sleep the expected duration and try to read from the device + * if nothing useful is read try it in a shorter grid + * + * polling for not more than 20 ms should be enough + */ + waittime = 1 + data->range_mm / 172; + msleep(waittime); + for (i = 0; i < 4; i++) { + ret = i2c_smbus_read_byte_data(data->client, + SRF08_READ_SW_REVISION); + + /* check if a valid version number is read */ + if (ret < 255 && ret > 0) + break; + msleep(5); + } + + if (ret >= 255 || ret <= 0) { + dev_err(&client->dev, "device not ready\n"); + mutex_unlock(&data->lock); + return -EIO; + } + + ret = i2c_smbus_read_word_swapped(data->client, + SRF08_READ_ECHO_1_HIGH); + if (ret < 0) { + dev_err(&client->dev, "cannot read distance: ret=%d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + mutex_unlock(&data->lock); + + return ret; +} + +static irqreturn_t srf08_trigger_handler(int irq, void *p) +{ + struct iio_poll_func *pf = p; + struct iio_dev *indio_dev = pf->indio_dev; + struct srf08_data *data = iio_priv(indio_dev); + s16 sensor_data; + + sensor_data = srf08_read_ranging(data); + if (sensor_data < 0) + goto err; + + mutex_lock(&data->lock); + + data->scan.chan = sensor_data; + iio_push_to_buffers_with_timestamp(indio_dev, + &data->scan, pf->timestamp); + + mutex_unlock(&data->lock); +err: + iio_trigger_notify_done(indio_dev->trig); + return IRQ_HANDLED; +} + +static int srf08_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *channel, int *val, + int *val2, long mask) +{ + struct srf08_data *data = iio_priv(indio_dev); + int ret; + + if (channel->type != IIO_DISTANCE) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = srf08_read_ranging(data); + if (ret < 0) + return ret; + *val = ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + /* 1 LSB is 1 cm */ + *val = 0; + *val2 = 10000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static ssize_t srf08_show_range_mm_available(struct device *dev, + struct device_attribute *attr, char *buf) +{ + return sprintf(buf, "[0.043 0.043 11.008]\n"); +} + +static IIO_DEVICE_ATTR(sensor_max_range_available, S_IRUGO, + srf08_show_range_mm_available, NULL, 0); + +static ssize_t srf08_show_range_mm(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + + return sprintf(buf, "%d.%03d\n", data->range_mm / 1000, + data->range_mm % 1000); +} + +/* + * set the range of the sensor to an even multiple of 43 mm + * which corresponds to 1 LSB in the register + * + * register value corresponding range + * 0x00 43 mm + * 0x01 86 mm + * 0x02 129 mm + * ... + * 0xFF 11008 mm + */ +static ssize_t srf08_write_range_mm(struct srf08_data *data, unsigned int val) +{ + int ret; + struct i2c_client *client = data->client; + unsigned int mod; + u8 regval; + + ret = val / 43 - 1; + mod = val % 43; + + if (mod || (ret < 0) || (ret > 255)) + return -EINVAL; + + regval = ret; + + mutex_lock(&data->lock); + + ret = i2c_smbus_write_byte_data(client, SRF08_WRITE_RANGE, regval); + if (ret < 0) { + dev_err(&client->dev, "write_range - err: %d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + data->range_mm = val; + + mutex_unlock(&data->lock); + + return 0; +} + +static ssize_t srf08_store_range_mm(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + int ret; + int integer, fract; + + ret = iio_str_to_fixpoint(buf, 100, &integer, &fract); + if (ret) + return ret; + + ret = srf08_write_range_mm(data, integer * 1000 + fract); + if (ret < 0) + return ret; + + return len; +} + +static IIO_DEVICE_ATTR(sensor_max_range, S_IRUGO | S_IWUSR, + srf08_show_range_mm, srf08_store_range_mm, 0); + +static ssize_t srf08_show_sensitivity_available(struct device *dev, + struct device_attribute *attr, char *buf) +{ + int i, len = 0; + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + + for (i = 0; i < data->chip_info->num_sensitivity_avail; i++) + if (data->chip_info->sensitivity_avail[i]) + len += sprintf(buf + len, "%d ", + data->chip_info->sensitivity_avail[i]); + + len += sprintf(buf + len, "\n"); + + return len; +} + +static IIO_DEVICE_ATTR(sensor_sensitivity_available, S_IRUGO, + srf08_show_sensitivity_available, NULL, 0); + +static ssize_t srf08_show_sensitivity(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + int len; + + len = sprintf(buf, "%d\n", data->sensitivity); + + return len; +} + +static ssize_t srf08_write_sensitivity(struct srf08_data *data, + unsigned int val) +{ + struct i2c_client *client = data->client; + int ret, i; + u8 regval; + + if (!val) + return -EINVAL; + + for (i = 0; i < data->chip_info->num_sensitivity_avail; i++) + if (val && (val == data->chip_info->sensitivity_avail[i])) { + regval = i; + break; + } + + if (i >= data->chip_info->num_sensitivity_avail) + return -EINVAL; + + mutex_lock(&data->lock); + + ret = i2c_smbus_write_byte_data(client, SRF08_WRITE_MAX_GAIN, regval); + if (ret < 0) { + dev_err(&client->dev, "write_sensitivity - err: %d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + data->sensitivity = val; + + mutex_unlock(&data->lock); + + return 0; +} + +static ssize_t srf08_store_sensitivity(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + int ret; + unsigned int val; + + ret = kstrtouint(buf, 10, &val); + if (ret) + return ret; + + ret = srf08_write_sensitivity(data, val); + if (ret < 0) + return ret; + + return len; +} + +static IIO_DEVICE_ATTR(sensor_sensitivity, S_IRUGO | S_IWUSR, + srf08_show_sensitivity, srf08_store_sensitivity, 0); + +static struct attribute *srf08_attributes[] = { + &iio_dev_attr_sensor_max_range.dev_attr.attr, + &iio_dev_attr_sensor_max_range_available.dev_attr.attr, + &iio_dev_attr_sensor_sensitivity.dev_attr.attr, + &iio_dev_attr_sensor_sensitivity_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group srf08_attribute_group = { + .attrs = srf08_attributes, +}; + +static const struct iio_chan_spec srf08_channels[] = { + { + .type = IIO_DISTANCE, + .info_mask_separate = + BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + .scan_index = 0, + .scan_type = { + .sign = 's', + .realbits = 16, + .storagebits = 16, + .endianness = IIO_CPU, + }, + }, + IIO_CHAN_SOFT_TIMESTAMP(1), +}; + +static const struct iio_info srf08_info = { + .read_raw = srf08_read_raw, + .attrs = &srf08_attribute_group, +}; + +/* + * srf02 don't have an adjustable range or sensitivity, + * so we don't need attributes at all + */ +static const struct iio_info srf02_info = { + .read_raw = srf08_read_raw, +}; + +static int srf08_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct iio_dev *indio_dev; + struct srf08_data *data; + int ret; + + if (!i2c_check_functionality(client->adapter, + I2C_FUNC_SMBUS_READ_BYTE_DATA | + I2C_FUNC_SMBUS_WRITE_BYTE_DATA | + I2C_FUNC_SMBUS_READ_WORD_DATA)) + return -ENODEV; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->client = client; + data->sensor_type = (enum srf08_sensor_type)id->driver_data; + + switch (data->sensor_type) { + case SRF02: + data->chip_info = &srf02_chip_info; + indio_dev->info = &srf02_info; + break; + case SRF08: + data->chip_info = &srf08_chip_info; + indio_dev->info = &srf08_info; + break; + case SRF10: + data->chip_info = &srf10_chip_info; + indio_dev->info = &srf08_info; + break; + default: + return -EINVAL; + } + + indio_dev->name = id->name; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->channels = srf08_channels; + indio_dev->num_channels = ARRAY_SIZE(srf08_channels); + + mutex_init(&data->lock); + + ret = devm_iio_triggered_buffer_setup(&client->dev, indio_dev, + iio_pollfunc_store_time, srf08_trigger_handler, NULL); + if (ret < 0) { + dev_err(&client->dev, "setup of iio triggered buffer failed\n"); + return ret; + } + + if (data->chip_info->range_default) { + /* + * set default range of device in mm here + * these register values cannot be read from the hardware + * therefore set driver specific default values + * + * srf02 don't have a default value so it'll be omitted + */ + ret = srf08_write_range_mm(data, + data->chip_info->range_default); + if (ret < 0) + return ret; + } + + if (data->chip_info->sensitivity_default) { + /* + * set default sensitivity of device here + * these register values cannot be read from the hardware + * therefore set driver specific default values + * + * srf02 don't have a default value so it'll be omitted + */ + ret = srf08_write_sensitivity(data, + data->chip_info->sensitivity_default); + if (ret < 0) + return ret; + } + + return devm_iio_device_register(&client->dev, indio_dev); +} + +static const struct of_device_id of_srf08_match[] = { + { .compatible = "devantech,srf02", (void *)SRF02}, + { .compatible = "devantech,srf08", (void *)SRF08}, + { .compatible = "devantech,srf10", (void *)SRF10}, + {}, +}; + +MODULE_DEVICE_TABLE(of, of_srf08_match); + +static const struct i2c_device_id srf08_id[] = { + { "srf02", SRF02 }, + { "srf08", SRF08 }, + { "srf10", SRF10 }, + { } +}; +MODULE_DEVICE_TABLE(i2c, srf08_id); + +static struct i2c_driver srf08_driver = { + .driver = { + .name = "srf08", + .of_match_table = of_srf08_match, + }, + .probe = srf08_probe, + .id_table = srf08_id, +}; +module_i2c_driver(srf08_driver); + +MODULE_AUTHOR("Andreas Klinger <ak@it-klinger.de>"); +MODULE_DESCRIPTION("Devantech SRF02/SRF08/SRF10 i2c ultrasonic ranger driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/proximity/sx9310.c b/drivers/iio/proximity/sx9310.c new file mode 100644 index 000000000..6d3f4ab8c --- /dev/null +++ b/drivers/iio/proximity/sx9310.c @@ -0,0 +1,1075 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * Copyright 2018 Google LLC. + * + * Driver for Semtech's SX9310/SX9311 capacitive proximity/button solution. + * Based on SX9500 driver and Semtech driver using the input framework + * <https://my.syncplicity.com/share/teouwsim8niiaud/ + * linux-driver-SX9310_NoSmartHSensing>. + * Reworked in April 2019 by Evan Green <evgreen@chromium.org> + * and in January 2020 by Daniel Campello <campello@chromium.org>. + */ + +#include <linux/acpi.h> +#include <linux/bitfield.h> +#include <linux/delay.h> +#include <linux/i2c.h> +#include <linux/irq.h> +#include <linux/kernel.h> +#include <linux/mod_devicetable.h> +#include <linux/module.h> +#include <linux/pm.h> +#include <linux/regmap.h> +#include <linux/regulator/consumer.h> +#include <linux/slab.h> + +#include <linux/iio/buffer.h> +#include <linux/iio/events.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/trigger.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/trigger_consumer.h> + +/* Register definitions. */ +#define SX9310_REG_IRQ_SRC 0x00 +#define SX9310_REG_STAT0 0x01 +#define SX9310_REG_STAT1 0x02 +#define SX9310_REG_STAT1_COMPSTAT_MASK GENMASK(3, 0) +#define SX9310_REG_IRQ_MSK 0x03 +#define SX9310_CONVDONE_IRQ BIT(3) +#define SX9310_FAR_IRQ BIT(5) +#define SX9310_CLOSE_IRQ BIT(6) +#define SX9310_REG_IRQ_FUNC 0x04 + +#define SX9310_REG_PROX_CTRL0 0x10 +#define SX9310_REG_PROX_CTRL0_SENSOREN_MASK GENMASK(3, 0) +#define SX9310_REG_PROX_CTRL0_SCANPERIOD_MASK GENMASK(7, 4) +#define SX9310_REG_PROX_CTRL0_SCANPERIOD_15MS 0x01 +#define SX9310_REG_PROX_CTRL1 0x11 +#define SX9310_REG_PROX_CTRL2 0x12 +#define SX9310_REG_PROX_CTRL2_COMBMODE_CS1_CS2 (0x02 << 6) +#define SX9310_REG_PROX_CTRL2_SHIELDEN_DYNAMIC (0x01 << 2) +#define SX9310_REG_PROX_CTRL3 0x13 +#define SX9310_REG_PROX_CTRL3_GAIN0_X8 (0x03 << 2) +#define SX9310_REG_PROX_CTRL3_GAIN12_X4 0x02 +#define SX9310_REG_PROX_CTRL4 0x14 +#define SX9310_REG_PROX_CTRL4_RESOLUTION_FINEST 0x07 +#define SX9310_REG_PROX_CTRL5 0x15 +#define SX9310_REG_PROX_CTRL5_RANGE_SMALL (0x03 << 6) +#define SX9310_REG_PROX_CTRL5_STARTUPSENS_CS1 (0x01 << 2) +#define SX9310_REG_PROX_CTRL5_RAWFILT_1P25 0x02 +#define SX9310_REG_PROX_CTRL6 0x16 +#define SX9310_REG_PROX_CTRL6_AVGTHRESH_DEFAULT 0x20 +#define SX9310_REG_PROX_CTRL7 0x17 +#define SX9310_REG_PROX_CTRL7_AVGNEGFILT_2 (0x01 << 3) +#define SX9310_REG_PROX_CTRL7_AVGPOSFILT_512 0x05 +#define SX9310_REG_PROX_CTRL8 0x18 +#define SX9310_REG_PROX_CTRL9 0x19 +#define SX9310_REG_PROX_CTRL8_9_PTHRESH_28 (0x08 << 3) +#define SX9310_REG_PROX_CTRL8_9_PTHRESH_96 (0x11 << 3) +#define SX9310_REG_PROX_CTRL8_9_BODYTHRESH_900 0x03 +#define SX9310_REG_PROX_CTRL8_9_BODYTHRESH_1500 0x05 +#define SX9310_REG_PROX_CTRL10 0x1a +#define SX9310_REG_PROX_CTRL10_HYST_6PCT (0x01 << 4) +#define SX9310_REG_PROX_CTRL10_FAR_DEBOUNCE_2 0x01 +#define SX9310_REG_PROX_CTRL11 0x1b +#define SX9310_REG_PROX_CTRL12 0x1c +#define SX9310_REG_PROX_CTRL13 0x1d +#define SX9310_REG_PROX_CTRL14 0x1e +#define SX9310_REG_PROX_CTRL15 0x1f +#define SX9310_REG_PROX_CTRL16 0x20 +#define SX9310_REG_PROX_CTRL17 0x21 +#define SX9310_REG_PROX_CTRL18 0x22 +#define SX9310_REG_PROX_CTRL19 0x23 +#define SX9310_REG_SAR_CTRL0 0x2a +#define SX9310_REG_SAR_CTRL0_SARDEB_4_SAMPLES (0x02 << 5) +#define SX9310_REG_SAR_CTRL0_SARHYST_8 (0x02 << 3) +#define SX9310_REG_SAR_CTRL1 0x2b +/* Each increment of the slope register is 0.0078125. */ +#define SX9310_REG_SAR_CTRL1_SLOPE(_hnslope) (_hnslope / 78125) +#define SX9310_REG_SAR_CTRL2 0x2c +#define SX9310_REG_SAR_CTRL2_SAROFFSET_DEFAULT 0x3c + +#define SX9310_REG_SENSOR_SEL 0x30 +#define SX9310_REG_USE_MSB 0x31 +#define SX9310_REG_USE_LSB 0x32 +#define SX9310_REG_AVG_MSB 0x33 +#define SX9310_REG_AVG_LSB 0x34 +#define SX9310_REG_DIFF_MSB 0x35 +#define SX9310_REG_DIFF_LSB 0x36 +#define SX9310_REG_OFFSET_MSB 0x37 +#define SX9310_REG_OFFSET_LSB 0x38 +#define SX9310_REG_SAR_MSB 0x39 +#define SX9310_REG_SAR_LSB 0x3a +#define SX9310_REG_I2C_ADDR 0x40 +#define SX9310_REG_PAUSE 0x41 +#define SX9310_REG_WHOAMI 0x42 +#define SX9310_WHOAMI_VALUE 0x01 +#define SX9311_WHOAMI_VALUE 0x02 +#define SX9310_REG_RESET 0x7f +#define SX9310_SOFT_RESET 0xde + + +/* 4 hardware channels, as defined in STAT0: COMB, CS2, CS1 and CS0. */ +#define SX9310_NUM_CHANNELS 4 +static_assert(SX9310_NUM_CHANNELS < BITS_PER_LONG); + +struct sx9310_data { + /* Serialize access to registers and channel configuration */ + struct mutex mutex; + struct i2c_client *client; + struct iio_trigger *trig; + struct regmap *regmap; + struct regulator_bulk_data supplies[2]; + /* + * Last reading of the proximity status for each channel. + * We only send an event to user space when this changes. + */ + unsigned long chan_prox_stat; + bool trigger_enabled; + /* Ensure correct alignment of timestamp when present. */ + struct { + __be16 channels[SX9310_NUM_CHANNELS]; + s64 ts __aligned(8); + } buffer; + /* Remember enabled channels and sample rate during suspend. */ + unsigned int suspend_ctrl0; + struct completion completion; + unsigned long chan_read; + unsigned long chan_event; + unsigned int whoami; +}; + +static const struct iio_event_spec sx9310_events[] = { + { + .type = IIO_EV_TYPE_THRESH, + .dir = IIO_EV_DIR_EITHER, + .mask_separate = BIT(IIO_EV_INFO_ENABLE), + }, +}; + +#define SX9310_NAMED_CHANNEL(idx, name) \ + { \ + .type = IIO_PROXIMITY, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .indexed = 1, \ + .channel = idx, \ + .extend_name = name, \ + .address = SX9310_REG_DIFF_MSB, \ + .event_spec = sx9310_events, \ + .num_event_specs = ARRAY_SIZE(sx9310_events), \ + .scan_index = idx, \ + .scan_type = { \ + .sign = 's', \ + .realbits = 12, \ + .storagebits = 16, \ + .endianness = IIO_BE, \ + }, \ + } +#define SX9310_CHANNEL(idx) SX9310_NAMED_CHANNEL(idx, NULL) + +static const struct iio_chan_spec sx9310_channels[] = { + SX9310_CHANNEL(0), /* CS0 */ + SX9310_CHANNEL(1), /* CS1 */ + SX9310_CHANNEL(2), /* CS2 */ + SX9310_NAMED_CHANNEL(3, "comb"), /* COMB */ + + IIO_CHAN_SOFT_TIMESTAMP(4), +}; + +/* + * Each entry contains the integer part (val) and the fractional part, in micro + * seconds. It conforms to the IIO output IIO_VAL_INT_PLUS_MICRO. + */ +static const struct { + int val; + int val2; +} sx9310_samp_freq_table[] = { + { 500, 0 }, /* 0000: Min (no idle time) */ + { 66, 666666 }, /* 0001: 15 ms */ + { 33, 333333 }, /* 0010: 30 ms (Typ.) */ + { 22, 222222 }, /* 0011: 45 ms */ + { 16, 666666 }, /* 0100: 60 ms */ + { 11, 111111 }, /* 0101: 90 ms */ + { 8, 333333 }, /* 0110: 120 ms */ + { 5, 0 }, /* 0111: 200 ms */ + { 2, 500000 }, /* 1000: 400 ms */ + { 1, 666666 }, /* 1001: 600 ms */ + { 1, 250000 }, /* 1010: 800 ms */ + { 1, 0 }, /* 1011: 1 s */ + { 0, 500000 }, /* 1100: 2 s */ + { 0, 333333 }, /* 1101: 3 s */ + { 0, 250000 }, /* 1110: 4 s */ + { 0, 200000 }, /* 1111: 5 s */ +}; +static const unsigned int sx9310_scan_period_table[] = { + 2, 15, 30, 45, 60, 90, 120, 200, + 400, 600, 800, 1000, 2000, 3000, 4000, 5000, +}; + +static ssize_t sx9310_show_samp_freq_avail(struct device *dev, + struct device_attribute *attr, + char *buf) +{ + size_t len = 0; + int i; + + for (i = 0; i < ARRAY_SIZE(sx9310_samp_freq_table); i++) + len += scnprintf(buf + len, PAGE_SIZE - len, "%d.%d ", + sx9310_samp_freq_table[i].val, + sx9310_samp_freq_table[i].val2); + buf[len - 1] = '\n'; + return len; +} +static IIO_DEV_ATTR_SAMP_FREQ_AVAIL(sx9310_show_samp_freq_avail); + +static const struct regmap_range sx9310_writable_reg_ranges[] = { + regmap_reg_range(SX9310_REG_IRQ_MSK, SX9310_REG_IRQ_FUNC), + regmap_reg_range(SX9310_REG_PROX_CTRL0, SX9310_REG_PROX_CTRL19), + regmap_reg_range(SX9310_REG_SAR_CTRL0, SX9310_REG_SAR_CTRL2), + regmap_reg_range(SX9310_REG_SENSOR_SEL, SX9310_REG_SENSOR_SEL), + regmap_reg_range(SX9310_REG_OFFSET_MSB, SX9310_REG_OFFSET_LSB), + regmap_reg_range(SX9310_REG_PAUSE, SX9310_REG_PAUSE), + regmap_reg_range(SX9310_REG_RESET, SX9310_REG_RESET), +}; + +static const struct regmap_access_table sx9310_writeable_regs = { + .yes_ranges = sx9310_writable_reg_ranges, + .n_yes_ranges = ARRAY_SIZE(sx9310_writable_reg_ranges), +}; + +static const struct regmap_range sx9310_readable_reg_ranges[] = { + regmap_reg_range(SX9310_REG_IRQ_SRC, SX9310_REG_IRQ_FUNC), + regmap_reg_range(SX9310_REG_PROX_CTRL0, SX9310_REG_PROX_CTRL19), + regmap_reg_range(SX9310_REG_SAR_CTRL0, SX9310_REG_SAR_CTRL2), + regmap_reg_range(SX9310_REG_SENSOR_SEL, SX9310_REG_SAR_LSB), + regmap_reg_range(SX9310_REG_I2C_ADDR, SX9310_REG_WHOAMI), + regmap_reg_range(SX9310_REG_RESET, SX9310_REG_RESET), +}; + +static const struct regmap_access_table sx9310_readable_regs = { + .yes_ranges = sx9310_readable_reg_ranges, + .n_yes_ranges = ARRAY_SIZE(sx9310_readable_reg_ranges), +}; + +static const struct regmap_range sx9310_volatile_reg_ranges[] = { + regmap_reg_range(SX9310_REG_IRQ_SRC, SX9310_REG_STAT1), + regmap_reg_range(SX9310_REG_USE_MSB, SX9310_REG_DIFF_LSB), + regmap_reg_range(SX9310_REG_SAR_MSB, SX9310_REG_SAR_LSB), + regmap_reg_range(SX9310_REG_RESET, SX9310_REG_RESET), +}; + +static const struct regmap_access_table sx9310_volatile_regs = { + .yes_ranges = sx9310_volatile_reg_ranges, + .n_yes_ranges = ARRAY_SIZE(sx9310_volatile_reg_ranges), +}; + +static const struct regmap_config sx9310_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + + .max_register = SX9310_REG_RESET, + .cache_type = REGCACHE_RBTREE, + + .wr_table = &sx9310_writeable_regs, + .rd_table = &sx9310_readable_regs, + .volatile_table = &sx9310_volatile_regs, +}; + +static int sx9310_update_chan_en(struct sx9310_data *data, + unsigned long chan_read, + unsigned long chan_event) +{ + int ret; + unsigned long channels = chan_read | chan_event; + + if ((data->chan_read | data->chan_event) != channels) { + ret = regmap_update_bits(data->regmap, SX9310_REG_PROX_CTRL0, + SX9310_REG_PROX_CTRL0_SENSOREN_MASK, + channels); + if (ret) + return ret; + } + data->chan_read = chan_read; + data->chan_event = chan_event; + return 0; +} + +static int sx9310_get_read_channel(struct sx9310_data *data, int channel) +{ + return sx9310_update_chan_en(data, data->chan_read | BIT(channel), + data->chan_event); +} + +static int sx9310_put_read_channel(struct sx9310_data *data, int channel) +{ + return sx9310_update_chan_en(data, data->chan_read & ~BIT(channel), + data->chan_event); +} + +static int sx9310_get_event_channel(struct sx9310_data *data, int channel) +{ + return sx9310_update_chan_en(data, data->chan_read, + data->chan_event | BIT(channel)); +} + +static int sx9310_put_event_channel(struct sx9310_data *data, int channel) +{ + return sx9310_update_chan_en(data, data->chan_read, + data->chan_event & ~BIT(channel)); +} + +static int sx9310_enable_irq(struct sx9310_data *data, unsigned int irq) +{ + if (!data->client->irq) + return 0; + return regmap_update_bits(data->regmap, SX9310_REG_IRQ_MSK, irq, irq); +} + +static int sx9310_disable_irq(struct sx9310_data *data, unsigned int irq) +{ + if (!data->client->irq) + return 0; + return regmap_update_bits(data->regmap, SX9310_REG_IRQ_MSK, irq, 0); +} + +static int sx9310_read_prox_data(struct sx9310_data *data, + const struct iio_chan_spec *chan, __be16 *val) +{ + int ret; + + ret = regmap_write(data->regmap, SX9310_REG_SENSOR_SEL, chan->channel); + if (ret) + return ret; + + return regmap_bulk_read(data->regmap, chan->address, val, sizeof(*val)); +} + +/* + * If we have no interrupt support, we have to wait for a scan period + * after enabling a channel to get a result. + */ +static int sx9310_wait_for_sample(struct sx9310_data *data) +{ + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, SX9310_REG_PROX_CTRL0, &val); + if (ret) + return ret; + + val = FIELD_GET(SX9310_REG_PROX_CTRL0_SCANPERIOD_MASK, val); + + msleep(sx9310_scan_period_table[val]); + + return 0; +} + +static int sx9310_read_proximity(struct sx9310_data *data, + const struct iio_chan_spec *chan, int *val) +{ + int ret; + __be16 rawval; + + mutex_lock(&data->mutex); + + ret = sx9310_get_read_channel(data, chan->channel); + if (ret) + goto out; + + ret = sx9310_enable_irq(data, SX9310_CONVDONE_IRQ); + if (ret) + goto out_put_channel; + + mutex_unlock(&data->mutex); + + if (data->client->irq) { + ret = wait_for_completion_interruptible(&data->completion); + reinit_completion(&data->completion); + } else { + ret = sx9310_wait_for_sample(data); + } + + mutex_lock(&data->mutex); + + if (ret) + goto out_disable_irq; + + ret = sx9310_read_prox_data(data, chan, &rawval); + if (ret) + goto out_disable_irq; + + *val = sign_extend32(be16_to_cpu(rawval), + chan->address == SX9310_REG_DIFF_MSB ? 11 : 15); + + ret = sx9310_disable_irq(data, SX9310_CONVDONE_IRQ); + if (ret) + goto out_put_channel; + + ret = sx9310_put_read_channel(data, chan->channel); + if (ret) + goto out; + + mutex_unlock(&data->mutex); + + return IIO_VAL_INT; + +out_disable_irq: + sx9310_disable_irq(data, SX9310_CONVDONE_IRQ); +out_put_channel: + sx9310_put_read_channel(data, chan->channel); +out: + mutex_unlock(&data->mutex); + + return ret; +} + +static int sx9310_read_samp_freq(struct sx9310_data *data, int *val, int *val2) +{ + unsigned int regval; + int ret; + + ret = regmap_read(data->regmap, SX9310_REG_PROX_CTRL0, ®val); + if (ret) + return ret; + + regval = FIELD_GET(SX9310_REG_PROX_CTRL0_SCANPERIOD_MASK, regval); + *val = sx9310_samp_freq_table[regval].val; + *val2 = sx9310_samp_freq_table[regval].val2; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int sx9310_read_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int *val, + int *val2, long mask) +{ + struct sx9310_data *data = iio_priv(indio_dev); + int ret; + + if (chan->type != IIO_PROXIMITY) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + + ret = sx9310_read_proximity(data, chan, val); + iio_device_release_direct_mode(indio_dev); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return sx9310_read_samp_freq(data, val, val2); + default: + return -EINVAL; + } +} + +static int sx9310_set_samp_freq(struct sx9310_data *data, int val, int val2) +{ + int i, ret; + + for (i = 0; i < ARRAY_SIZE(sx9310_samp_freq_table); i++) + if (val == sx9310_samp_freq_table[i].val && + val2 == sx9310_samp_freq_table[i].val2) + break; + + if (i == ARRAY_SIZE(sx9310_samp_freq_table)) + return -EINVAL; + + mutex_lock(&data->mutex); + + ret = regmap_update_bits( + data->regmap, SX9310_REG_PROX_CTRL0, + SX9310_REG_PROX_CTRL0_SCANPERIOD_MASK, + FIELD_PREP(SX9310_REG_PROX_CTRL0_SCANPERIOD_MASK, i)); + + mutex_unlock(&data->mutex); + + return ret; +} + +static int sx9310_write_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, int val, int val2, + long mask) +{ + struct sx9310_data *data = iio_priv(indio_dev); + + if (chan->type != IIO_PROXIMITY) + return -EINVAL; + + if (mask != IIO_CHAN_INFO_SAMP_FREQ) + return -EINVAL; + + return sx9310_set_samp_freq(data, val, val2); +} + +static irqreturn_t sx9310_irq_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct sx9310_data *data = iio_priv(indio_dev); + + if (data->trigger_enabled) + iio_trigger_poll(data->trig); + + /* + * Even if no event is enabled, we need to wake the thread to clear the + * interrupt state by reading SX9310_REG_IRQ_SRC. + * It is not possible to do that here because regmap_read takes a mutex. + */ + return IRQ_WAKE_THREAD; +} + +static void sx9310_push_events(struct iio_dev *indio_dev) +{ + int ret; + unsigned int val, chan; + struct sx9310_data *data = iio_priv(indio_dev); + s64 timestamp = iio_get_time_ns(indio_dev); + unsigned long prox_changed; + + /* Read proximity state on all channels */ + ret = regmap_read(data->regmap, SX9310_REG_STAT0, &val); + if (ret) { + dev_err(&data->client->dev, "i2c transfer error in irq\n"); + return; + } + + /* + * Only iterate over channels with changes on proximity status that have + * events enabled. + */ + prox_changed = (data->chan_prox_stat ^ val) & data->chan_event; + + for_each_set_bit(chan, &prox_changed, SX9310_NUM_CHANNELS) { + int dir; + u64 ev; + + dir = (val & BIT(chan)) ? IIO_EV_DIR_FALLING : IIO_EV_DIR_RISING; + ev = IIO_UNMOD_EVENT_CODE(IIO_PROXIMITY, chan, + IIO_EV_TYPE_THRESH, dir); + + iio_push_event(indio_dev, ev, timestamp); + } + data->chan_prox_stat = val; +} + +static irqreturn_t sx9310_irq_thread_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct sx9310_data *data = iio_priv(indio_dev); + int ret; + unsigned int val; + + mutex_lock(&data->mutex); + + ret = regmap_read(data->regmap, SX9310_REG_IRQ_SRC, &val); + if (ret) { + dev_err(&data->client->dev, "i2c transfer error in irq\n"); + goto out; + } + + if (val & (SX9310_FAR_IRQ | SX9310_CLOSE_IRQ)) + sx9310_push_events(indio_dev); + + if (val & SX9310_CONVDONE_IRQ) + complete(&data->completion); + +out: + mutex_unlock(&data->mutex); + + return IRQ_HANDLED; +} + +static int sx9310_read_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir) +{ + struct sx9310_data *data = iio_priv(indio_dev); + + return !!(data->chan_event & BIT(chan->channel)); +} + +static int sx9310_write_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, int state) +{ + struct sx9310_data *data = iio_priv(indio_dev); + unsigned int eventirq = SX9310_FAR_IRQ | SX9310_CLOSE_IRQ; + int ret; + + /* If the state hasn't changed, there's nothing to do. */ + if (!!(data->chan_event & BIT(chan->channel)) == state) + return 0; + + mutex_lock(&data->mutex); + if (state) { + ret = sx9310_get_event_channel(data, chan->channel); + if (ret) + goto out_unlock; + if (!(data->chan_event & ~BIT(chan->channel))) { + ret = sx9310_enable_irq(data, eventirq); + if (ret) + sx9310_put_event_channel(data, chan->channel); + } + } else { + ret = sx9310_put_event_channel(data, chan->channel); + if (ret) + goto out_unlock; + if (!data->chan_event) { + ret = sx9310_disable_irq(data, eventirq); + if (ret) + sx9310_get_event_channel(data, chan->channel); + } + } + +out_unlock: + mutex_unlock(&data->mutex); + return ret; +} + +static struct attribute *sx9310_attributes[] = { + &iio_dev_attr_sampling_frequency_available.dev_attr.attr, + NULL +}; + +static const struct attribute_group sx9310_attribute_group = { + .attrs = sx9310_attributes, +}; + +static const struct iio_info sx9310_info = { + .attrs = &sx9310_attribute_group, + .read_raw = sx9310_read_raw, + .write_raw = sx9310_write_raw, + .read_event_config = sx9310_read_event_config, + .write_event_config = sx9310_write_event_config, +}; + +static int sx9310_set_trigger_state(struct iio_trigger *trig, bool state) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct sx9310_data *data = iio_priv(indio_dev); + int ret = 0; + + mutex_lock(&data->mutex); + + if (state) + ret = sx9310_enable_irq(data, SX9310_CONVDONE_IRQ); + else if (!data->chan_read) + ret = sx9310_disable_irq(data, SX9310_CONVDONE_IRQ); + if (ret) + goto out; + + data->trigger_enabled = state; + +out: + mutex_unlock(&data->mutex); + + return ret; +} + +static const struct iio_trigger_ops sx9310_trigger_ops = { + .set_trigger_state = sx9310_set_trigger_state, +}; + +static irqreturn_t sx9310_trigger_handler(int irq, void *private) +{ + struct iio_poll_func *pf = private; + struct iio_dev *indio_dev = pf->indio_dev; + struct sx9310_data *data = iio_priv(indio_dev); + __be16 val; + int bit, ret, i = 0; + + mutex_lock(&data->mutex); + + for_each_set_bit(bit, indio_dev->active_scan_mask, + indio_dev->masklength) { + ret = sx9310_read_prox_data(data, &indio_dev->channels[bit], + &val); + if (ret) + goto out; + + data->buffer.channels[i++] = val; + } + + iio_push_to_buffers_with_timestamp(indio_dev, &data->buffer, + pf->timestamp); + +out: + mutex_unlock(&data->mutex); + + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int sx9310_buffer_preenable(struct iio_dev *indio_dev) +{ + struct sx9310_data *data = iio_priv(indio_dev); + unsigned long channels = 0; + int bit, ret; + + mutex_lock(&data->mutex); + for_each_set_bit(bit, indio_dev->active_scan_mask, + indio_dev->masklength) + __set_bit(indio_dev->channels[bit].channel, &channels); + + ret = sx9310_update_chan_en(data, channels, data->chan_event); + mutex_unlock(&data->mutex); + return ret; +} + +static int sx9310_buffer_postdisable(struct iio_dev *indio_dev) +{ + struct sx9310_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = sx9310_update_chan_en(data, 0, data->chan_event); + mutex_unlock(&data->mutex); + return ret; +} + +static const struct iio_buffer_setup_ops sx9310_buffer_setup_ops = { + .preenable = sx9310_buffer_preenable, + .postdisable = sx9310_buffer_postdisable, +}; + +struct sx9310_reg_default { + u8 reg; + u8 def; +}; + +static const struct sx9310_reg_default sx9310_default_regs[] = { + { SX9310_REG_IRQ_MSK, 0x00 }, + { SX9310_REG_IRQ_FUNC, 0x00 }, + /* + * The lower 4 bits should not be set as it enable sensors measurements. + * Turning the detection on before the configuration values are set to + * good values can cause the device to return erroneous readings. + */ + { SX9310_REG_PROX_CTRL0, SX9310_REG_PROX_CTRL0_SCANPERIOD_15MS }, + { SX9310_REG_PROX_CTRL1, 0x00 }, + { SX9310_REG_PROX_CTRL2, SX9310_REG_PROX_CTRL2_COMBMODE_CS1_CS2 | + SX9310_REG_PROX_CTRL2_SHIELDEN_DYNAMIC }, + { SX9310_REG_PROX_CTRL3, SX9310_REG_PROX_CTRL3_GAIN0_X8 | + SX9310_REG_PROX_CTRL3_GAIN12_X4 }, + { SX9310_REG_PROX_CTRL4, SX9310_REG_PROX_CTRL4_RESOLUTION_FINEST }, + { SX9310_REG_PROX_CTRL5, SX9310_REG_PROX_CTRL5_RANGE_SMALL | + SX9310_REG_PROX_CTRL5_STARTUPSENS_CS1 | + SX9310_REG_PROX_CTRL5_RAWFILT_1P25 }, + { SX9310_REG_PROX_CTRL6, SX9310_REG_PROX_CTRL6_AVGTHRESH_DEFAULT }, + { SX9310_REG_PROX_CTRL7, SX9310_REG_PROX_CTRL7_AVGNEGFILT_2 | + SX9310_REG_PROX_CTRL7_AVGPOSFILT_512 }, + { SX9310_REG_PROX_CTRL8, SX9310_REG_PROX_CTRL8_9_PTHRESH_96 | + SX9310_REG_PROX_CTRL8_9_BODYTHRESH_1500 }, + { SX9310_REG_PROX_CTRL9, SX9310_REG_PROX_CTRL8_9_PTHRESH_28 | + SX9310_REG_PROX_CTRL8_9_BODYTHRESH_900 }, + { SX9310_REG_PROX_CTRL10, SX9310_REG_PROX_CTRL10_HYST_6PCT | + SX9310_REG_PROX_CTRL10_FAR_DEBOUNCE_2 }, + { SX9310_REG_PROX_CTRL11, 0x00 }, + { SX9310_REG_PROX_CTRL12, 0x00 }, + { SX9310_REG_PROX_CTRL13, 0x00 }, + { SX9310_REG_PROX_CTRL14, 0x00 }, + { SX9310_REG_PROX_CTRL15, 0x00 }, + { SX9310_REG_PROX_CTRL16, 0x00 }, + { SX9310_REG_PROX_CTRL17, 0x00 }, + { SX9310_REG_PROX_CTRL18, 0x00 }, + { SX9310_REG_PROX_CTRL19, 0x00 }, + { SX9310_REG_SAR_CTRL0, SX9310_REG_SAR_CTRL0_SARDEB_4_SAMPLES | + SX9310_REG_SAR_CTRL0_SARHYST_8 }, + { SX9310_REG_SAR_CTRL1, SX9310_REG_SAR_CTRL1_SLOPE(10781250) }, + { SX9310_REG_SAR_CTRL2, SX9310_REG_SAR_CTRL2_SAROFFSET_DEFAULT }, +}; + +/* Activate all channels and perform an initial compensation. */ +static int sx9310_init_compensation(struct iio_dev *indio_dev) +{ + struct sx9310_data *data = iio_priv(indio_dev); + int ret; + unsigned int val; + unsigned int ctrl0; + + ret = regmap_read(data->regmap, SX9310_REG_PROX_CTRL0, &ctrl0); + if (ret) + return ret; + + /* run the compensation phase on all channels */ + ret = regmap_write(data->regmap, SX9310_REG_PROX_CTRL0, + ctrl0 | SX9310_REG_PROX_CTRL0_SENSOREN_MASK); + if (ret) + return ret; + + ret = regmap_read_poll_timeout(data->regmap, SX9310_REG_STAT1, val, + !(val & SX9310_REG_STAT1_COMPSTAT_MASK), + 20000, 2000000); + if (ret) { + if (ret == -ETIMEDOUT) + dev_err(&data->client->dev, + "initial compensation timed out: 0x%02x\n", + val); + return ret; + } + + regmap_write(data->regmap, SX9310_REG_PROX_CTRL0, ctrl0); + return ret; +} + +static int sx9310_init_device(struct iio_dev *indio_dev) +{ + struct sx9310_data *data = iio_priv(indio_dev); + const struct sx9310_reg_default *initval; + int ret; + unsigned int i, val; + + ret = regmap_write(data->regmap, SX9310_REG_RESET, SX9310_SOFT_RESET); + if (ret) + return ret; + + usleep_range(1000, 2000); /* power-up time is ~1ms. */ + + /* Clear reset interrupt state by reading SX9310_REG_IRQ_SRC. */ + ret = regmap_read(data->regmap, SX9310_REG_IRQ_SRC, &val); + if (ret) + return ret; + + /* Program some sane defaults. */ + for (i = 0; i < ARRAY_SIZE(sx9310_default_regs); i++) { + initval = &sx9310_default_regs[i]; + ret = regmap_write(data->regmap, initval->reg, initval->def); + if (ret) + return ret; + } + + return sx9310_init_compensation(indio_dev); +} + +static int sx9310_set_indio_dev_name(struct device *dev, + struct iio_dev *indio_dev, + unsigned int whoami) +{ + unsigned int long ddata; + + ddata = (uintptr_t)device_get_match_data(dev); + if (ddata != whoami) { + dev_err(dev, "WHOAMI does not match device data: %u\n", whoami); + return -ENODEV; + } + + switch (whoami) { + case SX9310_WHOAMI_VALUE: + indio_dev->name = "sx9310"; + break; + case SX9311_WHOAMI_VALUE: + indio_dev->name = "sx9311"; + break; + default: + dev_err(dev, "unexpected WHOAMI response: %u\n", whoami); + return -ENODEV; + } + + return 0; +} + +static void sx9310_regulator_disable(void *_data) +{ + struct sx9310_data *data = _data; + + regulator_bulk_disable(ARRAY_SIZE(data->supplies), data->supplies); +} + +static int sx9310_probe(struct i2c_client *client) +{ + int ret; + struct device *dev = &client->dev; + struct iio_dev *indio_dev; + struct sx9310_data *data; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + data->client = client; + data->supplies[0].supply = "vdd"; + data->supplies[1].supply = "svdd"; + mutex_init(&data->mutex); + init_completion(&data->completion); + + data->regmap = devm_regmap_init_i2c(client, &sx9310_regmap_config); + if (IS_ERR(data->regmap)) + return PTR_ERR(data->regmap); + + ret = devm_regulator_bulk_get(dev, ARRAY_SIZE(data->supplies), + data->supplies); + if (ret) + return ret; + + ret = regulator_bulk_enable(ARRAY_SIZE(data->supplies), data->supplies); + if (ret) + return ret; + /* Must wait for Tpor time after initial power up */ + usleep_range(1000, 1100); + + ret = devm_add_action_or_reset(dev, sx9310_regulator_disable, data); + if (ret) + return ret; + + ret = regmap_read(data->regmap, SX9310_REG_WHOAMI, &data->whoami); + if (ret) { + dev_err(dev, "error in reading WHOAMI register: %d", ret); + return ret; + } + + ret = sx9310_set_indio_dev_name(dev, indio_dev, data->whoami); + if (ret) + return ret; + + ACPI_COMPANION_SET(&indio_dev->dev, ACPI_COMPANION(dev)); + indio_dev->channels = sx9310_channels; + indio_dev->num_channels = ARRAY_SIZE(sx9310_channels); + indio_dev->info = &sx9310_info; + indio_dev->modes = INDIO_DIRECT_MODE; + i2c_set_clientdata(client, indio_dev); + + ret = sx9310_init_device(indio_dev); + if (ret) + return ret; + + if (client->irq) { + ret = devm_request_threaded_irq(dev, client->irq, + sx9310_irq_handler, + sx9310_irq_thread_handler, + IRQF_ONESHOT, + "sx9310_event", indio_dev); + if (ret) + return ret; + + data->trig = devm_iio_trigger_alloc(dev, "%s-dev%d", + indio_dev->name, + indio_dev->id); + if (!data->trig) + return -ENOMEM; + + data->trig->dev.parent = dev; + data->trig->ops = &sx9310_trigger_ops; + iio_trigger_set_drvdata(data->trig, indio_dev); + + ret = devm_iio_trigger_register(dev, data->trig); + if (ret) + return ret; + } + + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, + iio_pollfunc_store_time, + sx9310_trigger_handler, + &sx9310_buffer_setup_ops); + if (ret) + return ret; + + return devm_iio_device_register(dev, indio_dev); +} + +static int __maybe_unused sx9310_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct sx9310_data *data = iio_priv(indio_dev); + u8 ctrl0; + int ret; + + disable_irq_nosync(data->client->irq); + + mutex_lock(&data->mutex); + ret = regmap_read(data->regmap, SX9310_REG_PROX_CTRL0, + &data->suspend_ctrl0); + if (ret) + goto out; + + ctrl0 = data->suspend_ctrl0 & ~SX9310_REG_PROX_CTRL0_SENSOREN_MASK; + ret = regmap_write(data->regmap, SX9310_REG_PROX_CTRL0, ctrl0); + if (ret) + goto out; + + ret = regmap_write(data->regmap, SX9310_REG_PAUSE, 0); + +out: + mutex_unlock(&data->mutex); + return ret; +} + +static int __maybe_unused sx9310_resume(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct sx9310_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = regmap_write(data->regmap, SX9310_REG_PAUSE, 1); + if (ret) + goto out; + + ret = regmap_write(data->regmap, SX9310_REG_PROX_CTRL0, + data->suspend_ctrl0); + +out: + mutex_unlock(&data->mutex); + if (ret) + return ret; + + enable_irq(data->client->irq); + return 0; +} + +static const struct dev_pm_ops sx9310_pm_ops = { + SET_SYSTEM_SLEEP_PM_OPS(sx9310_suspend, sx9310_resume) +}; + +static const struct acpi_device_id sx9310_acpi_match[] = { + { "STH9310", SX9310_WHOAMI_VALUE }, + { "STH9311", SX9311_WHOAMI_VALUE }, + {} +}; +MODULE_DEVICE_TABLE(acpi, sx9310_acpi_match); + +static const struct of_device_id sx9310_of_match[] = { + { .compatible = "semtech,sx9310", (void *)SX9310_WHOAMI_VALUE }, + { .compatible = "semtech,sx9311", (void *)SX9311_WHOAMI_VALUE }, + {} +}; +MODULE_DEVICE_TABLE(of, sx9310_of_match); + +static const struct i2c_device_id sx9310_id[] = { + { "sx9310", SX9310_WHOAMI_VALUE }, + { "sx9311", SX9311_WHOAMI_VALUE }, + {} +}; +MODULE_DEVICE_TABLE(i2c, sx9310_id); + +static struct i2c_driver sx9310_driver = { + .driver = { + .name = "sx9310", + .acpi_match_table = sx9310_acpi_match, + .of_match_table = sx9310_of_match, + .pm = &sx9310_pm_ops, + + /* + * Lots of i2c transfers in probe + over 200 ms waiting in + * sx9310_init_compensation() mean a slow probe; prefer async + * so we don't delay boot if we're builtin to the kernel. + */ + .probe_type = PROBE_PREFER_ASYNCHRONOUS, + }, + .probe_new = sx9310_probe, + .id_table = sx9310_id, +}; +module_i2c_driver(sx9310_driver); + +MODULE_AUTHOR("Gwendal Grignou <gwendal@chromium.org>"); +MODULE_AUTHOR("Daniel Campello <campello@chromium.org>"); +MODULE_DESCRIPTION("Driver for Semtech SX9310/SX9311 proximity sensor"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/proximity/sx9500.c b/drivers/iio/proximity/sx9500.c new file mode 100644 index 000000000..acb821cba --- /dev/null +++ b/drivers/iio/proximity/sx9500.c @@ -0,0 +1,1074 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * Copyright (c) 2014 Intel Corporation + * + * Driver for Semtech's SX9500 capacitive proximity/button solution. + * Datasheet available at + * <http://www.semtech.com/images/datasheet/sx9500.pdf>. + */ + +#include <linux/kernel.h> +#include <linux/slab.h> +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/irq.h> +#include <linux/acpi.h> +#include <linux/gpio/consumer.h> +#include <linux/regmap.h> +#include <linux/pm.h> +#include <linux/delay.h> + +#include <linux/iio/iio.h> +#include <linux/iio/buffer.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/events.h> +#include <linux/iio/trigger.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/trigger_consumer.h> + +#define SX9500_DRIVER_NAME "sx9500" +#define SX9500_IRQ_NAME "sx9500_event" + +/* Register definitions. */ +#define SX9500_REG_IRQ_SRC 0x00 +#define SX9500_REG_STAT 0x01 +#define SX9500_REG_IRQ_MSK 0x03 + +#define SX9500_REG_PROX_CTRL0 0x06 +#define SX9500_REG_PROX_CTRL1 0x07 +#define SX9500_REG_PROX_CTRL2 0x08 +#define SX9500_REG_PROX_CTRL3 0x09 +#define SX9500_REG_PROX_CTRL4 0x0a +#define SX9500_REG_PROX_CTRL5 0x0b +#define SX9500_REG_PROX_CTRL6 0x0c +#define SX9500_REG_PROX_CTRL7 0x0d +#define SX9500_REG_PROX_CTRL8 0x0e + +#define SX9500_REG_SENSOR_SEL 0x20 +#define SX9500_REG_USE_MSB 0x21 +#define SX9500_REG_USE_LSB 0x22 +#define SX9500_REG_AVG_MSB 0x23 +#define SX9500_REG_AVG_LSB 0x24 +#define SX9500_REG_DIFF_MSB 0x25 +#define SX9500_REG_DIFF_LSB 0x26 +#define SX9500_REG_OFFSET_MSB 0x27 +#define SX9500_REG_OFFSET_LSB 0x28 + +#define SX9500_REG_RESET 0x7f + +/* Write this to REG_RESET to do a soft reset. */ +#define SX9500_SOFT_RESET 0xde + +#define SX9500_SCAN_PERIOD_MASK GENMASK(6, 4) +#define SX9500_SCAN_PERIOD_SHIFT 4 + +/* + * These serve for identifying IRQ source in the IRQ_SRC register, and + * also for masking the IRQs in the IRQ_MSK register. + */ +#define SX9500_CLOSE_IRQ BIT(6) +#define SX9500_FAR_IRQ BIT(5) +#define SX9500_CONVDONE_IRQ BIT(3) + +#define SX9500_PROXSTAT_SHIFT 4 +#define SX9500_COMPSTAT_MASK GENMASK(3, 0) + +#define SX9500_NUM_CHANNELS 4 +#define SX9500_CHAN_MASK GENMASK(SX9500_NUM_CHANNELS - 1, 0) + +struct sx9500_data { + struct mutex mutex; + struct i2c_client *client; + struct iio_trigger *trig; + struct regmap *regmap; + struct gpio_desc *gpiod_rst; + /* + * Last reading of the proximity status for each channel. We + * only send an event to user space when this changes. + */ + bool prox_stat[SX9500_NUM_CHANNELS]; + bool event_enabled[SX9500_NUM_CHANNELS]; + bool trigger_enabled; + u16 *buffer; + /* Remember enabled channels and sample rate during suspend. */ + unsigned int suspend_ctrl0; + struct completion completion; + int data_rdy_users, close_far_users; + int channel_users[SX9500_NUM_CHANNELS]; +}; + +static const struct iio_event_spec sx9500_events[] = { + { + .type = IIO_EV_TYPE_THRESH, + .dir = IIO_EV_DIR_EITHER, + .mask_separate = BIT(IIO_EV_INFO_ENABLE), + }, +}; + +#define SX9500_CHANNEL(idx) \ + { \ + .type = IIO_PROXIMITY, \ + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), \ + .info_mask_shared_by_all = BIT(IIO_CHAN_INFO_SAMP_FREQ), \ + .indexed = 1, \ + .channel = idx, \ + .event_spec = sx9500_events, \ + .num_event_specs = ARRAY_SIZE(sx9500_events), \ + .scan_index = idx, \ + .scan_type = { \ + .sign = 'u', \ + .realbits = 16, \ + .storagebits = 16, \ + .shift = 0, \ + }, \ + } + +static const struct iio_chan_spec sx9500_channels[] = { + SX9500_CHANNEL(0), + SX9500_CHANNEL(1), + SX9500_CHANNEL(2), + SX9500_CHANNEL(3), + IIO_CHAN_SOFT_TIMESTAMP(4), +}; + +static const struct { + int val; + int val2; +} sx9500_samp_freq_table[] = { + {33, 333333}, + {16, 666666}, + {11, 111111}, + {8, 333333}, + {6, 666666}, + {5, 0}, + {3, 333333}, + {2, 500000}, +}; + +static const unsigned int sx9500_scan_period_table[] = { + 30, 60, 90, 120, 150, 200, 300, 400, +}; + +static const struct regmap_range sx9500_writable_reg_ranges[] = { + regmap_reg_range(SX9500_REG_IRQ_MSK, SX9500_REG_IRQ_MSK), + regmap_reg_range(SX9500_REG_PROX_CTRL0, SX9500_REG_PROX_CTRL8), + regmap_reg_range(SX9500_REG_SENSOR_SEL, SX9500_REG_SENSOR_SEL), + regmap_reg_range(SX9500_REG_OFFSET_MSB, SX9500_REG_OFFSET_LSB), + regmap_reg_range(SX9500_REG_RESET, SX9500_REG_RESET), +}; + +static const struct regmap_access_table sx9500_writeable_regs = { + .yes_ranges = sx9500_writable_reg_ranges, + .n_yes_ranges = ARRAY_SIZE(sx9500_writable_reg_ranges), +}; + +/* + * All allocated registers are readable, so we just list unallocated + * ones. + */ +static const struct regmap_range sx9500_non_readable_reg_ranges[] = { + regmap_reg_range(SX9500_REG_STAT + 1, SX9500_REG_STAT + 1), + regmap_reg_range(SX9500_REG_IRQ_MSK + 1, SX9500_REG_PROX_CTRL0 - 1), + regmap_reg_range(SX9500_REG_PROX_CTRL8 + 1, SX9500_REG_SENSOR_SEL - 1), + regmap_reg_range(SX9500_REG_OFFSET_LSB + 1, SX9500_REG_RESET - 1), +}; + +static const struct regmap_access_table sx9500_readable_regs = { + .no_ranges = sx9500_non_readable_reg_ranges, + .n_no_ranges = ARRAY_SIZE(sx9500_non_readable_reg_ranges), +}; + +static const struct regmap_range sx9500_volatile_reg_ranges[] = { + regmap_reg_range(SX9500_REG_IRQ_SRC, SX9500_REG_STAT), + regmap_reg_range(SX9500_REG_USE_MSB, SX9500_REG_OFFSET_LSB), + regmap_reg_range(SX9500_REG_RESET, SX9500_REG_RESET), +}; + +static const struct regmap_access_table sx9500_volatile_regs = { + .yes_ranges = sx9500_volatile_reg_ranges, + .n_yes_ranges = ARRAY_SIZE(sx9500_volatile_reg_ranges), +}; + +static const struct regmap_config sx9500_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + + .max_register = SX9500_REG_RESET, + .cache_type = REGCACHE_RBTREE, + + .wr_table = &sx9500_writeable_regs, + .rd_table = &sx9500_readable_regs, + .volatile_table = &sx9500_volatile_regs, +}; + +static int sx9500_inc_users(struct sx9500_data *data, int *counter, + unsigned int reg, unsigned int bitmask) +{ + (*counter)++; + if (*counter != 1) + /* Bit is already active, nothing to do. */ + return 0; + + return regmap_update_bits(data->regmap, reg, bitmask, bitmask); +} + +static int sx9500_dec_users(struct sx9500_data *data, int *counter, + unsigned int reg, unsigned int bitmask) +{ + (*counter)--; + if (*counter != 0) + /* There are more users, do not deactivate. */ + return 0; + + return regmap_update_bits(data->regmap, reg, bitmask, 0); +} + +static int sx9500_inc_chan_users(struct sx9500_data *data, int chan) +{ + return sx9500_inc_users(data, &data->channel_users[chan], + SX9500_REG_PROX_CTRL0, BIT(chan)); +} + +static int sx9500_dec_chan_users(struct sx9500_data *data, int chan) +{ + return sx9500_dec_users(data, &data->channel_users[chan], + SX9500_REG_PROX_CTRL0, BIT(chan)); +} + +static int sx9500_inc_data_rdy_users(struct sx9500_data *data) +{ + return sx9500_inc_users(data, &data->data_rdy_users, + SX9500_REG_IRQ_MSK, SX9500_CONVDONE_IRQ); +} + +static int sx9500_dec_data_rdy_users(struct sx9500_data *data) +{ + return sx9500_dec_users(data, &data->data_rdy_users, + SX9500_REG_IRQ_MSK, SX9500_CONVDONE_IRQ); +} + +static int sx9500_inc_close_far_users(struct sx9500_data *data) +{ + return sx9500_inc_users(data, &data->close_far_users, + SX9500_REG_IRQ_MSK, + SX9500_CLOSE_IRQ | SX9500_FAR_IRQ); +} + +static int sx9500_dec_close_far_users(struct sx9500_data *data) +{ + return sx9500_dec_users(data, &data->close_far_users, + SX9500_REG_IRQ_MSK, + SX9500_CLOSE_IRQ | SX9500_FAR_IRQ); +} + +static int sx9500_read_prox_data(struct sx9500_data *data, + const struct iio_chan_spec *chan, + int *val) +{ + int ret; + __be16 regval; + + ret = regmap_write(data->regmap, SX9500_REG_SENSOR_SEL, chan->channel); + if (ret < 0) + return ret; + + ret = regmap_bulk_read(data->regmap, SX9500_REG_USE_MSB, ®val, 2); + if (ret < 0) + return ret; + + *val = be16_to_cpu(regval); + + return IIO_VAL_INT; +} + +/* + * If we have no interrupt support, we have to wait for a scan period + * after enabling a channel to get a result. + */ +static int sx9500_wait_for_sample(struct sx9500_data *data) +{ + int ret; + unsigned int val; + + ret = regmap_read(data->regmap, SX9500_REG_PROX_CTRL0, &val); + if (ret < 0) + return ret; + + val = (val & SX9500_SCAN_PERIOD_MASK) >> SX9500_SCAN_PERIOD_SHIFT; + + msleep(sx9500_scan_period_table[val]); + + return 0; +} + +static int sx9500_read_proximity(struct sx9500_data *data, + const struct iio_chan_spec *chan, + int *val) +{ + int ret; + + mutex_lock(&data->mutex); + + ret = sx9500_inc_chan_users(data, chan->channel); + if (ret < 0) + goto out; + + ret = sx9500_inc_data_rdy_users(data); + if (ret < 0) + goto out_dec_chan; + + mutex_unlock(&data->mutex); + + if (data->client->irq > 0) + ret = wait_for_completion_interruptible(&data->completion); + else + ret = sx9500_wait_for_sample(data); + + mutex_lock(&data->mutex); + + if (ret < 0) + goto out_dec_data_rdy; + + ret = sx9500_read_prox_data(data, chan, val); + if (ret < 0) + goto out_dec_data_rdy; + + ret = sx9500_dec_data_rdy_users(data); + if (ret < 0) + goto out_dec_chan; + + ret = sx9500_dec_chan_users(data, chan->channel); + if (ret < 0) + goto out; + + ret = IIO_VAL_INT; + + goto out; + +out_dec_data_rdy: + sx9500_dec_data_rdy_users(data); +out_dec_chan: + sx9500_dec_chan_users(data, chan->channel); +out: + mutex_unlock(&data->mutex); + reinit_completion(&data->completion); + + return ret; +} + +static int sx9500_read_samp_freq(struct sx9500_data *data, + int *val, int *val2) +{ + int ret; + unsigned int regval; + + mutex_lock(&data->mutex); + ret = regmap_read(data->regmap, SX9500_REG_PROX_CTRL0, ®val); + mutex_unlock(&data->mutex); + + if (ret < 0) + return ret; + + regval = (regval & SX9500_SCAN_PERIOD_MASK) >> SX9500_SCAN_PERIOD_SHIFT; + *val = sx9500_samp_freq_table[regval].val; + *val2 = sx9500_samp_freq_table[regval].val2; + + return IIO_VAL_INT_PLUS_MICRO; +} + +static int sx9500_read_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + int *val, int *val2, long mask) +{ + struct sx9500_data *data = iio_priv(indio_dev); + int ret; + + switch (chan->type) { + case IIO_PROXIMITY: + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = iio_device_claim_direct_mode(indio_dev); + if (ret) + return ret; + ret = sx9500_read_proximity(data, chan, val); + iio_device_release_direct_mode(indio_dev); + return ret; + case IIO_CHAN_INFO_SAMP_FREQ: + return sx9500_read_samp_freq(data, val, val2); + default: + return -EINVAL; + } + default: + return -EINVAL; + } +} + +static int sx9500_set_samp_freq(struct sx9500_data *data, + int val, int val2) +{ + int i, ret; + + for (i = 0; i < ARRAY_SIZE(sx9500_samp_freq_table); i++) + if (val == sx9500_samp_freq_table[i].val && + val2 == sx9500_samp_freq_table[i].val2) + break; + + if (i == ARRAY_SIZE(sx9500_samp_freq_table)) + return -EINVAL; + + mutex_lock(&data->mutex); + + ret = regmap_update_bits(data->regmap, SX9500_REG_PROX_CTRL0, + SX9500_SCAN_PERIOD_MASK, + i << SX9500_SCAN_PERIOD_SHIFT); + + mutex_unlock(&data->mutex); + + return ret; +} + +static int sx9500_write_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + int val, int val2, long mask) +{ + struct sx9500_data *data = iio_priv(indio_dev); + + switch (chan->type) { + case IIO_PROXIMITY: + switch (mask) { + case IIO_CHAN_INFO_SAMP_FREQ: + return sx9500_set_samp_freq(data, val, val2); + default: + return -EINVAL; + } + default: + return -EINVAL; + } +} + +static irqreturn_t sx9500_irq_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct sx9500_data *data = iio_priv(indio_dev); + + if (data->trigger_enabled) + iio_trigger_poll(data->trig); + + /* + * Even if no event is enabled, we need to wake the thread to + * clear the interrupt state by reading SX9500_REG_IRQ_SRC. It + * is not possible to do that here because regmap_read takes a + * mutex. + */ + return IRQ_WAKE_THREAD; +} + +static void sx9500_push_events(struct iio_dev *indio_dev) +{ + int ret; + unsigned int val, chan; + struct sx9500_data *data = iio_priv(indio_dev); + + ret = regmap_read(data->regmap, SX9500_REG_STAT, &val); + if (ret < 0) { + dev_err(&data->client->dev, "i2c transfer error in irq\n"); + return; + } + + val >>= SX9500_PROXSTAT_SHIFT; + for (chan = 0; chan < SX9500_NUM_CHANNELS; chan++) { + int dir; + u64 ev; + bool new_prox = val & BIT(chan); + + if (!data->event_enabled[chan]) + continue; + if (new_prox == data->prox_stat[chan]) + /* No change on this channel. */ + continue; + + dir = new_prox ? IIO_EV_DIR_FALLING : IIO_EV_DIR_RISING; + ev = IIO_UNMOD_EVENT_CODE(IIO_PROXIMITY, chan, + IIO_EV_TYPE_THRESH, dir); + iio_push_event(indio_dev, ev, iio_get_time_ns(indio_dev)); + data->prox_stat[chan] = new_prox; + } +} + +static irqreturn_t sx9500_irq_thread_handler(int irq, void *private) +{ + struct iio_dev *indio_dev = private; + struct sx9500_data *data = iio_priv(indio_dev); + int ret; + unsigned int val; + + mutex_lock(&data->mutex); + + ret = regmap_read(data->regmap, SX9500_REG_IRQ_SRC, &val); + if (ret < 0) { + dev_err(&data->client->dev, "i2c transfer error in irq\n"); + goto out; + } + + if (val & (SX9500_CLOSE_IRQ | SX9500_FAR_IRQ)) + sx9500_push_events(indio_dev); + + if (val & SX9500_CONVDONE_IRQ) + complete(&data->completion); + +out: + mutex_unlock(&data->mutex); + + return IRQ_HANDLED; +} + +static int sx9500_read_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir) +{ + struct sx9500_data *data = iio_priv(indio_dev); + + if (chan->type != IIO_PROXIMITY || type != IIO_EV_TYPE_THRESH || + dir != IIO_EV_DIR_EITHER) + return -EINVAL; + + return data->event_enabled[chan->channel]; +} + +static int sx9500_write_event_config(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + enum iio_event_type type, + enum iio_event_direction dir, + int state) +{ + struct sx9500_data *data = iio_priv(indio_dev); + int ret; + + if (chan->type != IIO_PROXIMITY || type != IIO_EV_TYPE_THRESH || + dir != IIO_EV_DIR_EITHER) + return -EINVAL; + + mutex_lock(&data->mutex); + + if (state == 1) { + ret = sx9500_inc_chan_users(data, chan->channel); + if (ret < 0) + goto out_unlock; + ret = sx9500_inc_close_far_users(data); + if (ret < 0) + goto out_undo_chan; + } else { + ret = sx9500_dec_chan_users(data, chan->channel); + if (ret < 0) + goto out_unlock; + ret = sx9500_dec_close_far_users(data); + if (ret < 0) + goto out_undo_chan; + } + + data->event_enabled[chan->channel] = state; + goto out_unlock; + +out_undo_chan: + if (state == 1) + sx9500_dec_chan_users(data, chan->channel); + else + sx9500_inc_chan_users(data, chan->channel); +out_unlock: + mutex_unlock(&data->mutex); + return ret; +} + +static int sx9500_update_scan_mode(struct iio_dev *indio_dev, + const unsigned long *scan_mask) +{ + struct sx9500_data *data = iio_priv(indio_dev); + + mutex_lock(&data->mutex); + kfree(data->buffer); + data->buffer = kzalloc(indio_dev->scan_bytes, GFP_KERNEL); + mutex_unlock(&data->mutex); + + if (data->buffer == NULL) + return -ENOMEM; + + return 0; +} + +static IIO_CONST_ATTR_SAMP_FREQ_AVAIL( + "2.500000 3.333333 5 6.666666 8.333333 11.111111 16.666666 33.333333"); + +static struct attribute *sx9500_attributes[] = { + &iio_const_attr_sampling_frequency_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group sx9500_attribute_group = { + .attrs = sx9500_attributes, +}; + +static const struct iio_info sx9500_info = { + .attrs = &sx9500_attribute_group, + .read_raw = &sx9500_read_raw, + .write_raw = &sx9500_write_raw, + .read_event_config = &sx9500_read_event_config, + .write_event_config = &sx9500_write_event_config, + .update_scan_mode = &sx9500_update_scan_mode, +}; + +static int sx9500_set_trigger_state(struct iio_trigger *trig, + bool state) +{ + struct iio_dev *indio_dev = iio_trigger_get_drvdata(trig); + struct sx9500_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + + if (state) + ret = sx9500_inc_data_rdy_users(data); + else + ret = sx9500_dec_data_rdy_users(data); + if (ret < 0) + goto out; + + data->trigger_enabled = state; + +out: + mutex_unlock(&data->mutex); + + return ret; +} + +static const struct iio_trigger_ops sx9500_trigger_ops = { + .set_trigger_state = sx9500_set_trigger_state, +}; + +static irqreturn_t sx9500_trigger_handler(int irq, void *private) +{ + struct iio_poll_func *pf = private; + struct iio_dev *indio_dev = pf->indio_dev; + struct sx9500_data *data = iio_priv(indio_dev); + int val, bit, ret, i = 0; + + mutex_lock(&data->mutex); + + for_each_set_bit(bit, indio_dev->active_scan_mask, + indio_dev->masklength) { + ret = sx9500_read_prox_data(data, &indio_dev->channels[bit], + &val); + if (ret < 0) + goto out; + + data->buffer[i++] = val; + } + + iio_push_to_buffers_with_timestamp(indio_dev, data->buffer, + iio_get_time_ns(indio_dev)); + +out: + mutex_unlock(&data->mutex); + + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static int sx9500_buffer_postenable(struct iio_dev *indio_dev) +{ + struct sx9500_data *data = iio_priv(indio_dev); + int ret = 0, i; + + mutex_lock(&data->mutex); + + for (i = 0; i < SX9500_NUM_CHANNELS; i++) + if (test_bit(i, indio_dev->active_scan_mask)) { + ret = sx9500_inc_chan_users(data, i); + if (ret) + break; + } + + if (ret) + for (i = i - 1; i >= 0; i--) + if (test_bit(i, indio_dev->active_scan_mask)) + sx9500_dec_chan_users(data, i); + + mutex_unlock(&data->mutex); + + return ret; +} + +static int sx9500_buffer_predisable(struct iio_dev *indio_dev) +{ + struct sx9500_data *data = iio_priv(indio_dev); + int ret = 0, i; + + mutex_lock(&data->mutex); + + for (i = 0; i < SX9500_NUM_CHANNELS; i++) + if (test_bit(i, indio_dev->active_scan_mask)) { + ret = sx9500_dec_chan_users(data, i); + if (ret) + break; + } + + if (ret) + for (i = i - 1; i >= 0; i--) + if (test_bit(i, indio_dev->active_scan_mask)) + sx9500_inc_chan_users(data, i); + + mutex_unlock(&data->mutex); + + return ret; +} + +static const struct iio_buffer_setup_ops sx9500_buffer_setup_ops = { + .postenable = sx9500_buffer_postenable, + .predisable = sx9500_buffer_predisable, +}; + +struct sx9500_reg_default { + u8 reg; + u8 def; +}; + +static const struct sx9500_reg_default sx9500_default_regs[] = { + { + .reg = SX9500_REG_PROX_CTRL1, + /* Shield enabled, small range. */ + .def = 0x43, + }, + { + .reg = SX9500_REG_PROX_CTRL2, + /* x8 gain, 167kHz frequency, finest resolution. */ + .def = 0x77, + }, + { + .reg = SX9500_REG_PROX_CTRL3, + /* Doze enabled, 2x scan period doze, no raw filter. */ + .def = 0x40, + }, + { + .reg = SX9500_REG_PROX_CTRL4, + /* Average threshold. */ + .def = 0x30, + }, + { + .reg = SX9500_REG_PROX_CTRL5, + /* + * Debouncer off, lowest average negative filter, + * highest average postive filter. + */ + .def = 0x0f, + }, + { + .reg = SX9500_REG_PROX_CTRL6, + /* Proximity detection threshold: 280 */ + .def = 0x0e, + }, + { + .reg = SX9500_REG_PROX_CTRL7, + /* + * No automatic compensation, compensate each pin + * independently, proximity hysteresis: 32, close + * debouncer off, far debouncer off. + */ + .def = 0x00, + }, + { + .reg = SX9500_REG_PROX_CTRL8, + /* No stuck timeout, no periodic compensation. */ + .def = 0x00, + }, + { + .reg = SX9500_REG_PROX_CTRL0, + /* Scan period: 30ms, all sensors disabled. */ + .def = 0x00, + }, +}; + +/* Activate all channels and perform an initial compensation. */ +static int sx9500_init_compensation(struct iio_dev *indio_dev) +{ + struct sx9500_data *data = iio_priv(indio_dev); + int i, ret; + unsigned int val; + + ret = regmap_update_bits(data->regmap, SX9500_REG_PROX_CTRL0, + SX9500_CHAN_MASK, SX9500_CHAN_MASK); + if (ret < 0) + return ret; + + for (i = 10; i >= 0; i--) { + usleep_range(10000, 20000); + ret = regmap_read(data->regmap, SX9500_REG_STAT, &val); + if (ret < 0) + goto out; + if (!(val & SX9500_COMPSTAT_MASK)) + break; + } + + if (i < 0) { + dev_err(&data->client->dev, "initial compensation timed out"); + ret = -ETIMEDOUT; + } + +out: + regmap_update_bits(data->regmap, SX9500_REG_PROX_CTRL0, + SX9500_CHAN_MASK, 0); + return ret; +} + +static int sx9500_init_device(struct iio_dev *indio_dev) +{ + struct sx9500_data *data = iio_priv(indio_dev); + int ret, i; + unsigned int val; + + if (data->gpiod_rst) { + gpiod_set_value_cansleep(data->gpiod_rst, 0); + usleep_range(1000, 2000); + gpiod_set_value_cansleep(data->gpiod_rst, 1); + usleep_range(1000, 2000); + } + + ret = regmap_write(data->regmap, SX9500_REG_IRQ_MSK, 0); + if (ret < 0) + return ret; + + ret = regmap_write(data->regmap, SX9500_REG_RESET, + SX9500_SOFT_RESET); + if (ret < 0) + return ret; + + ret = regmap_read(data->regmap, SX9500_REG_IRQ_SRC, &val); + if (ret < 0) + return ret; + + for (i = 0; i < ARRAY_SIZE(sx9500_default_regs); i++) { + ret = regmap_write(data->regmap, + sx9500_default_regs[i].reg, + sx9500_default_regs[i].def); + if (ret < 0) + return ret; + } + + return sx9500_init_compensation(indio_dev); +} + +static const struct acpi_gpio_params reset_gpios = { 0, 0, false }; +static const struct acpi_gpio_params interrupt_gpios = { 2, 0, false }; + +static const struct acpi_gpio_mapping acpi_sx9500_gpios[] = { + { "reset-gpios", &reset_gpios, 1 }, + /* + * Some platforms have a bug in ACPI GPIO description making IRQ + * GPIO to be output only. Ask the GPIO core to ignore this limit. + */ + { "interrupt-gpios", &interrupt_gpios, 1, ACPI_GPIO_QUIRK_NO_IO_RESTRICTION }, + { }, +}; + +static void sx9500_gpio_probe(struct i2c_client *client, + struct sx9500_data *data) +{ + struct gpio_desc *gpiod_int; + struct device *dev; + int ret; + + if (!client) + return; + + dev = &client->dev; + + ret = devm_acpi_dev_add_driver_gpios(dev, acpi_sx9500_gpios); + if (ret) + dev_dbg(dev, "Unable to add GPIO mapping table\n"); + + if (client->irq <= 0) { + gpiod_int = devm_gpiod_get(dev, "interrupt", GPIOD_IN); + if (IS_ERR(gpiod_int)) + dev_err(dev, "gpio get irq failed\n"); + else + client->irq = gpiod_to_irq(gpiod_int); + } + + data->gpiod_rst = devm_gpiod_get(dev, "reset", GPIOD_OUT_HIGH); + if (IS_ERR(data->gpiod_rst)) { + dev_warn(dev, "gpio get reset pin failed\n"); + data->gpiod_rst = NULL; + } +} + +static int sx9500_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + int ret; + struct iio_dev *indio_dev; + struct sx9500_data *data; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (indio_dev == NULL) + return -ENOMEM; + + data = iio_priv(indio_dev); + data->client = client; + mutex_init(&data->mutex); + init_completion(&data->completion); + data->trigger_enabled = false; + + data->regmap = devm_regmap_init_i2c(client, &sx9500_regmap_config); + if (IS_ERR(data->regmap)) + return PTR_ERR(data->regmap); + + indio_dev->name = SX9500_DRIVER_NAME; + indio_dev->channels = sx9500_channels; + indio_dev->num_channels = ARRAY_SIZE(sx9500_channels); + indio_dev->info = &sx9500_info; + indio_dev->modes = INDIO_DIRECT_MODE; + i2c_set_clientdata(client, indio_dev); + + sx9500_gpio_probe(client, data); + + ret = sx9500_init_device(indio_dev); + if (ret < 0) + return ret; + + if (client->irq <= 0) + dev_warn(&client->dev, "no valid irq found\n"); + else { + ret = devm_request_threaded_irq(&client->dev, client->irq, + sx9500_irq_handler, sx9500_irq_thread_handler, + IRQF_TRIGGER_FALLING | IRQF_ONESHOT, + SX9500_IRQ_NAME, indio_dev); + if (ret < 0) + return ret; + + data->trig = devm_iio_trigger_alloc(&client->dev, + "%s-dev%d", indio_dev->name, indio_dev->id); + if (!data->trig) + return -ENOMEM; + + data->trig->dev.parent = &client->dev; + data->trig->ops = &sx9500_trigger_ops; + iio_trigger_set_drvdata(data->trig, indio_dev); + + ret = iio_trigger_register(data->trig); + if (ret) + return ret; + } + + ret = iio_triggered_buffer_setup(indio_dev, NULL, + sx9500_trigger_handler, + &sx9500_buffer_setup_ops); + if (ret < 0) + goto out_trigger_unregister; + + ret = iio_device_register(indio_dev); + if (ret < 0) + goto out_buffer_cleanup; + + return 0; + +out_buffer_cleanup: + iio_triggered_buffer_cleanup(indio_dev); +out_trigger_unregister: + if (client->irq > 0) + iio_trigger_unregister(data->trig); + + return ret; +} + +static int sx9500_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + struct sx9500_data *data = iio_priv(indio_dev); + + iio_device_unregister(indio_dev); + iio_triggered_buffer_cleanup(indio_dev); + if (client->irq > 0) + iio_trigger_unregister(data->trig); + kfree(data->buffer); + + return 0; +} + +#ifdef CONFIG_PM_SLEEP +static int sx9500_suspend(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct sx9500_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = regmap_read(data->regmap, SX9500_REG_PROX_CTRL0, + &data->suspend_ctrl0); + if (ret < 0) + goto out; + + /* + * Scan period doesn't matter because when all the sensors are + * deactivated the device is in sleep mode. + */ + ret = regmap_write(data->regmap, SX9500_REG_PROX_CTRL0, 0); + +out: + mutex_unlock(&data->mutex); + return ret; +} + +static int sx9500_resume(struct device *dev) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev)); + struct sx9500_data *data = iio_priv(indio_dev); + int ret; + + mutex_lock(&data->mutex); + ret = regmap_write(data->regmap, SX9500_REG_PROX_CTRL0, + data->suspend_ctrl0); + mutex_unlock(&data->mutex); + + return ret; +} +#endif /* CONFIG_PM_SLEEP */ + +static const struct dev_pm_ops sx9500_pm_ops = { + SET_SYSTEM_SLEEP_PM_OPS(sx9500_suspend, sx9500_resume) +}; + +static const struct acpi_device_id sx9500_acpi_match[] = { + {"SSX9500", 0}, + {"SASX9500", 0}, + { }, +}; +MODULE_DEVICE_TABLE(acpi, sx9500_acpi_match); + +static const struct of_device_id sx9500_of_match[] = { + { .compatible = "semtech,sx9500", }, + { } +}; +MODULE_DEVICE_TABLE(of, sx9500_of_match); + +static const struct i2c_device_id sx9500_id[] = { + {"sx9500", 0}, + { }, +}; +MODULE_DEVICE_TABLE(i2c, sx9500_id); + +static struct i2c_driver sx9500_driver = { + .driver = { + .name = SX9500_DRIVER_NAME, + .acpi_match_table = ACPI_PTR(sx9500_acpi_match), + .of_match_table = of_match_ptr(sx9500_of_match), + .pm = &sx9500_pm_ops, + }, + .probe = sx9500_probe, + .remove = sx9500_remove, + .id_table = sx9500_id, +}; +module_i2c_driver(sx9500_driver); + +MODULE_AUTHOR("Vlad Dogaru <vlad.dogaru@intel.com>"); +MODULE_DESCRIPTION("Driver for Semtech SX9500 proximity sensor"); +MODULE_LICENSE("GPL v2"); diff --git a/drivers/iio/proximity/vcnl3020.c b/drivers/iio/proximity/vcnl3020.c new file mode 100644 index 000000000..37264f801 --- /dev/null +++ b/drivers/iio/proximity/vcnl3020.c @@ -0,0 +1,257 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * Support for Vishay VCNL3020 proximity sensor on i2c bus. + * Based on Vishay VCNL4000 driver code. + * + * TODO: interrupts. + */ + +#include <linux/module.h> +#include <linux/i2c.h> +#include <linux/err.h> +#include <linux/delay.h> +#include <linux/regmap.h> + +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +#define VCNL3020_PROD_ID 0x21 + +#define VCNL_COMMAND 0x80 /* Command register */ +#define VCNL_PROD_REV 0x81 /* Product ID and Revision ID */ +#define VCNL_PROXIMITY_RATE 0x82 /* Rate of Proximity Measurement */ +#define VCNL_LED_CURRENT 0x83 /* IR LED current for proximity mode */ +#define VCNL_PS_RESULT_HI 0x87 /* Proximity result register, MSB */ +#define VCNL_PS_RESULT_LO 0x88 /* Proximity result register, LSB */ +#define VCNL_PS_ICR 0x89 /* Interrupt Control Register */ +#define VCNL_PS_LO_THR_HI 0x8a /* High byte of low threshold value */ +#define VCNL_PS_LO_THR_LO 0x8b /* Low byte of low threshold value */ +#define VCNL_PS_HI_THR_HI 0x8c /* High byte of high threshold value */ +#define VCNL_PS_HI_THR_LO 0x8d /* Low byte of high threshold value */ +#define VCNL_ISR 0x8e /* Interrupt Status Register */ +#define VCNL_PS_MOD_ADJ 0x8f /* Proximity Modulator Timing Adjustment */ + +/* Bit masks for COMMAND register */ +#define VCNL_PS_RDY BIT(5) /* proximity data ready? */ +#define VCNL_PS_OD BIT(3) /* start on-demand proximity + * measurement + */ + +#define VCNL_ON_DEMAND_TIMEOUT_US 100000 +#define VCNL_POLL_US 20000 + +/** + * struct vcnl3020_data - vcnl3020 specific data. + * @regmap: device register map. + * @dev: vcnl3020 device. + * @rev: revision id. + * @lock: lock for protecting access to device hardware registers. + */ +struct vcnl3020_data { + struct regmap *regmap; + struct device *dev; + u8 rev; + struct mutex lock; +}; + +/** + * struct vcnl3020_property - vcnl3020 property. + * @name: property name. + * @reg: i2c register offset. + * @conversion_func: conversion function. + */ +struct vcnl3020_property { + const char *name; + u32 reg; + u32 (*conversion_func)(u32 *val); +}; + +static u32 microamp_to_reg(u32 *val) +{ + /* + * An example of conversion from uA to reg val: + * 200000 uA == 200 mA == 20 + */ + return *val /= 10000; +}; + +static struct vcnl3020_property vcnl3020_led_current_property = { + .name = "vishay,led-current-microamp", + .reg = VCNL_LED_CURRENT, + .conversion_func = microamp_to_reg, +}; + +static int vcnl3020_get_and_apply_property(struct vcnl3020_data *data, + struct vcnl3020_property prop) +{ + int rc; + u32 val; + + rc = device_property_read_u32(data->dev, prop.name, &val); + if (rc) + return 0; + + if (prop.conversion_func) + prop.conversion_func(&val); + + rc = regmap_write(data->regmap, prop.reg, val); + if (rc) { + dev_err(data->dev, "Error (%d) setting property (%s)\n", + rc, prop.name); + } + + return rc; +} + +static int vcnl3020_init(struct vcnl3020_data *data) +{ + int rc; + unsigned int reg; + + rc = regmap_read(data->regmap, VCNL_PROD_REV, ®); + if (rc) { + dev_err(data->dev, + "Error (%d) reading product revision\n", rc); + return rc; + } + + if (reg != VCNL3020_PROD_ID) { + dev_err(data->dev, + "Product id (%x) did not match vcnl3020 (%x)\n", reg, + VCNL3020_PROD_ID); + return -ENODEV; + } + + data->rev = reg; + mutex_init(&data->lock); + + return vcnl3020_get_and_apply_property(data, + vcnl3020_led_current_property); +}; + +static int vcnl3020_measure_proximity(struct vcnl3020_data *data, int *val) +{ + int rc; + unsigned int reg; + __be16 res; + + mutex_lock(&data->lock); + + rc = regmap_write(data->regmap, VCNL_COMMAND, VCNL_PS_OD); + if (rc) + goto err_unlock; + + /* wait for data to become ready */ + rc = regmap_read_poll_timeout(data->regmap, VCNL_COMMAND, reg, + reg & VCNL_PS_RDY, VCNL_POLL_US, + VCNL_ON_DEMAND_TIMEOUT_US); + if (rc) { + dev_err(data->dev, + "Error (%d) reading vcnl3020 command register\n", rc); + goto err_unlock; + } + + /* high & low result bytes read */ + rc = regmap_bulk_read(data->regmap, VCNL_PS_RESULT_HI, &res, + sizeof(res)); + if (rc) + goto err_unlock; + + *val = be16_to_cpu(res); + +err_unlock: + mutex_unlock(&data->lock); + + return rc; +} + +static const struct iio_chan_spec vcnl3020_channels[] = { + { + .type = IIO_PROXIMITY, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW), + }, +}; + +static int vcnl3020_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, int *val, + int *val2, long mask) +{ + int rc; + struct vcnl3020_data *data = iio_priv(indio_dev); + + switch (mask) { + case IIO_CHAN_INFO_RAW: + rc = vcnl3020_measure_proximity(data, val); + if (rc) + return rc; + return IIO_VAL_INT; + default: + return -EINVAL; + } +} + +static const struct iio_info vcnl3020_info = { + .read_raw = vcnl3020_read_raw, +}; + +static const struct regmap_config vcnl3020_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .max_register = VCNL_PS_MOD_ADJ, +}; + +static int vcnl3020_probe(struct i2c_client *client) +{ + struct vcnl3020_data *data; + struct iio_dev *indio_dev; + struct regmap *regmap; + int rc; + + regmap = devm_regmap_init_i2c(client, &vcnl3020_regmap_config); + if (IS_ERR(regmap)) { + dev_err(&client->dev, "regmap_init failed\n"); + return PTR_ERR(regmap); + } + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->regmap = regmap; + data->dev = &client->dev; + + rc = vcnl3020_init(data); + if (rc) + return rc; + + indio_dev->info = &vcnl3020_info; + indio_dev->channels = vcnl3020_channels; + indio_dev->num_channels = ARRAY_SIZE(vcnl3020_channels); + indio_dev->name = "vcnl3020"; + indio_dev->modes = INDIO_DIRECT_MODE; + + return devm_iio_device_register(&client->dev, indio_dev); +} + +static const struct of_device_id vcnl3020_of_match[] = { + { + .compatible = "vishay,vcnl3020", + }, + {} +}; +MODULE_DEVICE_TABLE(of, vcnl3020_of_match); + +static struct i2c_driver vcnl3020_driver = { + .driver = { + .name = "vcnl3020", + .of_match_table = vcnl3020_of_match, + }, + .probe_new = vcnl3020_probe, +}; +module_i2c_driver(vcnl3020_driver); + +MODULE_AUTHOR("Ivan Mikhaylov <i.mikhaylov@yadro.com>"); +MODULE_DESCRIPTION("Vishay VCNL3020 proximity sensor driver"); +MODULE_LICENSE("GPL"); diff --git a/drivers/iio/proximity/vl53l0x-i2c.c b/drivers/iio/proximity/vl53l0x-i2c.c new file mode 100644 index 000000000..3d3ab8642 --- /dev/null +++ b/drivers/iio/proximity/vl53l0x-i2c.c @@ -0,0 +1,244 @@ +// SPDX-License-Identifier: GPL-2.0 +/* + * Support for ST VL53L0X FlightSense ToF Ranging Sensor on a i2c bus. + * + * Copyright (C) 2016 STMicroelectronics Imaging Division. + * Copyright (C) 2018 Song Qiang <songqiang1304521@gmail.com> + * Copyright (C) 2020 Ivan Drobyshevskyi <drobyshevskyi@gmail.com> + * + * Datasheet available at + * <https://www.st.com/resource/en/datasheet/vl53l0x.pdf> + * + * Default 7-bit i2c slave address 0x29. + * + * TODO: FIFO buffer, continuous mode, range selection, sensor ID check. + */ + +#include <linux/delay.h> +#include <linux/i2c.h> +#include <linux/interrupt.h> +#include <linux/module.h> + +#include <linux/iio/iio.h> + +#define VL_REG_SYSRANGE_START 0x00 + +#define VL_REG_SYSRANGE_MODE_MASK GENMASK(3, 0) +#define VL_REG_SYSRANGE_MODE_SINGLESHOT 0x00 +#define VL_REG_SYSRANGE_MODE_START_STOP BIT(0) +#define VL_REG_SYSRANGE_MODE_BACKTOBACK BIT(1) +#define VL_REG_SYSRANGE_MODE_TIMED BIT(2) +#define VL_REG_SYSRANGE_MODE_HISTOGRAM BIT(3) + +#define VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0A +#define VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY BIT(2) + +#define VL_REG_SYSTEM_INTERRUPT_CLEAR 0x0B + +#define VL_REG_RESULT_INT_STATUS 0x13 +#define VL_REG_RESULT_RANGE_STATUS 0x14 +#define VL_REG_RESULT_RANGE_STATUS_COMPLETE BIT(0) + +struct vl53l0x_data { + struct i2c_client *client; + struct completion completion; +}; + +static irqreturn_t vl53l0x_handle_irq(int irq, void *priv) +{ + struct iio_dev *indio_dev = priv; + struct vl53l0x_data *data = iio_priv(indio_dev); + + complete(&data->completion); + + return IRQ_HANDLED; +} + +static int vl53l0x_configure_irq(struct i2c_client *client, + struct iio_dev *indio_dev) +{ + struct vl53l0x_data *data = iio_priv(indio_dev); + int ret; + + ret = devm_request_irq(&client->dev, client->irq, vl53l0x_handle_irq, + IRQF_TRIGGER_FALLING, indio_dev->name, indio_dev); + if (ret) { + dev_err(&client->dev, "devm_request_irq error: %d\n", ret); + return ret; + } + + ret = i2c_smbus_write_byte_data(data->client, + VL_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, + VL_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); + if (ret < 0) + dev_err(&client->dev, "failed to configure IRQ: %d\n", ret); + + return ret; +} + +static void vl53l0x_clear_irq(struct vl53l0x_data *data) +{ + struct device *dev = &data->client->dev; + int ret; + + ret = i2c_smbus_write_byte_data(data->client, + VL_REG_SYSTEM_INTERRUPT_CLEAR, 1); + if (ret < 0) + dev_err(dev, "failed to clear error irq: %d\n", ret); + + ret = i2c_smbus_write_byte_data(data->client, + VL_REG_SYSTEM_INTERRUPT_CLEAR, 0); + if (ret < 0) + dev_err(dev, "failed to clear range irq: %d\n", ret); + + ret = i2c_smbus_read_byte_data(data->client, VL_REG_RESULT_INT_STATUS); + if (ret < 0 || ret & 0x07) + dev_err(dev, "failed to clear irq: %d\n", ret); +} + +static int vl53l0x_read_proximity(struct vl53l0x_data *data, + const struct iio_chan_spec *chan, + int *val) +{ + struct i2c_client *client = data->client; + u16 tries = 20; + u8 buffer[12]; + int ret; + unsigned long time_left; + + ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1); + if (ret < 0) + return ret; + + if (data->client->irq) { + reinit_completion(&data->completion); + + time_left = wait_for_completion_timeout(&data->completion, HZ/10); + if (time_left == 0) + return -ETIMEDOUT; + + vl53l0x_clear_irq(data); + } else { + do { + ret = i2c_smbus_read_byte_data(client, + VL_REG_RESULT_RANGE_STATUS); + if (ret < 0) + return ret; + + if (ret & VL_REG_RESULT_RANGE_STATUS_COMPLETE) + break; + + usleep_range(1000, 5000); + } while (--tries); + if (!tries) + return -ETIMEDOUT; + } + + ret = i2c_smbus_read_i2c_block_data(client, VL_REG_RESULT_RANGE_STATUS, + 12, buffer); + if (ret < 0) + return ret; + else if (ret != 12) + return -EREMOTEIO; + + /* Values should be between 30~1200 in millimeters. */ + *val = (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) | + BIT(IIO_CHAN_INFO_SCALE), + }, +}; + +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) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = vl53l0x_read_proximity(data, chan, val); + if (ret < 0) + return ret; + + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = 1000; + + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info vl53l0x_info = { + .read_raw = vl53l0x_read_raw, +}; + +static int vl53l0x_probe(struct i2c_client *client) +{ + 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); + + if (!i2c_check_functionality(client->adapter, + I2C_FUNC_SMBUS_READ_I2C_BLOCK | + I2C_FUNC_SMBUS_BYTE_DATA)) + return -EOPNOTSUPP; + + indio_dev->name = "vl53l0x"; + indio_dev->info = &vl53l0x_info; + indio_dev->channels = vl53l0x_channels; + indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + /* usage of interrupt is optional */ + if (client->irq) { + int ret; + + init_completion(&data->completion); + + ret = vl53l0x_configure_irq(client, indio_dev); + if (ret) + return ret; + } + + return devm_iio_device_register(&client->dev, indio_dev); +} + +static const struct of_device_id st_vl53l0x_dt_match[] = { + { .compatible = "st,vl53l0x", }, + { } +}; +MODULE_DEVICE_TABLE(of, st_vl53l0x_dt_match); + +static struct i2c_driver vl53l0x_driver = { + .driver = { + .name = "vl53l0x-i2c", + .of_match_table = st_vl53l0x_dt_match, + }, + .probe_new = vl53l0x_probe, +}; +module_i2c_driver(vl53l0x_driver); + +MODULE_AUTHOR("Song Qiang <songqiang1304521@gmail.com>"); +MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor driver"); +MODULE_LICENSE("GPL v2"); |