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Diffstat (limited to 'drivers/iio/proximity/pulsedlight-lidar-lite-v2.c')
-rw-r--r--drivers/iio/proximity/pulsedlight-lidar-lite-v2.c376
1 files changed, 376 insertions, 0 deletions
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 0000000000..2913d5e0fe
--- /dev/null
+++ b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c
@@ -0,0 +1,376 @@
+// 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 *) &reg;
+
+ 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;
+
+ ret = pm_runtime_resume_and_get(&client->dev);
+ if (ret < 0)
+ return ret;
+
+ /* 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, &reg);
+ 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)
+{
+ 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 void 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);
+}
+
+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);
+
+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;
+}
+
+static const struct dev_pm_ops lidar_pm_ops = {
+ 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 = pm_ptr(&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");
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-25 03:29:48 +0000