Linux kernel mirror (for testing)
git.kernel.org/pub/scm/linux/kernel/git/torvalds/linux.git
kernel
os
linux
iio: proximity: add driver for ST VL53L1X ToF sensor
Add support for the STMicroelectronics VL53L1X Time-of-Flight
ranging sensor with I2C interface.
Reviewed-by: Andy Shevchenko <andriy.shevchenko@intel.com>
Signed-off-by: Siratul Islam <email@sirat.me>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
authored by
Siratul Islam
and committed by
Jonathan Cameron
128e5ebe
2c9225e8
+773
+1
MAINTAINERS
+1
MAINTAINERS
+15
drivers/iio/proximity/Kconfig
+15
drivers/iio/proximity/Kconfig
···
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To compile this driver as a module, choose M here: the
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module will be called vl53l0x-i2c.
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config VL53L1X_I2C
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tristate "STMicroelectronics VL53L1X ToF ranger sensor (I2C)"
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depends on I2C
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select IIO_BUFFER
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select IIO_TRIGGERED_BUFFER
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select REGMAP_I2C
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select RESET_CONTROLLER
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help
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Say Y here to build a driver for STMicroelectronics VL53L1X
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ToF ranger sensors with i2c interface.
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This driver can be used to measure the distance of objects.
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To compile this driver as a module, choose M here: the
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module will be called vl53l1x-i2c.
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config AW96103
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tristate "AW96103/AW96105 Awinic proximity sensor"
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select REGMAP_I2C
+1
drivers/iio/proximity/Makefile
+1
drivers/iio/proximity/Makefile
+756
drivers/iio/proximity/vl53l1x-i2c.c
+756
drivers/iio/proximity/vl53l1x-i2c.c
···
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+
// SPDX-License-Identifier: GPL-2.0 OR BSD-2-Clause
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/*
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* Support for ST VL53L1X FlightSense ToF Ranging Sensor on a i2c bus.
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*
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* Copyright (C) 2026 Siratul Islam <email@sirat.me>
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*
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* Datasheet available at
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* <https://www.st.com/resource/en/datasheet/vl53l1x.pdf>
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*
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* Default 7-bit i2c slave address 0x29.
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*
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* The VL53L1X requires a firmware configuration blob to be loaded at boot.
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* Register values for the default configuration are taken from
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* ST's VL53L1X Ultra Lite Driver (STSW-IMG009).
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*/
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+
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#include <linux/array_size.h>
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#include <linux/bits.h>
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#include <linux/bitfield.h>
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#include <linux/completion.h>
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#include <linux/delay.h>
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#include <linux/dev_printk.h>
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#include <linux/err.h>
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#include <linux/i2c.h>
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#include <linux/interrupt.h>
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#include <linux/math.h>
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#include <linux/mod_devicetable.h>
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#include <linux/module.h>
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#include <linux/regmap.h>
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#include <linux/regulator/consumer.h>
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#include <linux/reset.h>
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#include <linux/time.h>
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#include <linux/types.h>
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+
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#include <asm/byteorder.h>
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+
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#include <linux/iio/buffer.h>
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#include <linux/iio/iio.h>
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#include <linux/iio/trigger.h>
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#include <linux/iio/trigger_consumer.h>
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#include <linux/iio/triggered_buffer.h>
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+
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#define VL53L1X_REG_SOFT_RESET 0x0000
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#define VL53L1X_REG_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
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#define VL53L1X_REG_VHV_CONFIG__INIT 0x000B
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#define VL53L1X_REG_GPIO_HV_MUX__CTRL 0x0030
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#define VL53L1X_REG_GPIO__TIO_HV_STATUS 0x0031
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#define VL53L1X_REG_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
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#define VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
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#define VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_A 0x005E
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#define VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
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#define VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_B 0x0061
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#define VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
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#define VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
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#define VL53L1X_REG_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
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#define VL53L1X_REG_SD_CONFIG__WOI_SD0 0x0078
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#define VL53L1X_REG_SD_CONFIG__WOI_SD1 0x0079
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#define VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0 0x007A
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#define VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1 0x007B
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#define VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR 0x0086
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#define VL53L1X_REG_SYSTEM__MODE_START 0x0087
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#define VL53L1X_REG_RESULT__RANGE_STATUS 0x0089
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#define VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
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#define VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL 0x00DE
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#define VL53L1X_REG_FIRMWARE__SYSTEM_STATUS 0x00E5
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#define VL53L1X_REG_IDENTIFICATION__MODEL_ID 0x010F
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#define VL53L1X_REG_DEFAULT_CONFIG 0x002D
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#define VL53L1X_MODEL_ID_VAL 0xEACC
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#define VL53L1X_MODE_START_TIMED 0x40
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#define VL53L1X_MODE_START_STOP 0x00
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+
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#define VL53L1X_INT_NEW_SAMPLE_READY 0x02
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#define VL53L1X_GPIO_HV_MUX_POLARITY BIT(4)
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+
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#define VL53L1X_VHV_LOOP_BOUND_TWO 0x09
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+
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#define VL53L1X_RANGE_STATUS_MASK GENMASK(4, 0)
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#define VL53L1X_RANGE_STATUS_VALID 9
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#define VL53L1X_OSC_CALIBRATE_MASK GENMASK(9, 0)
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/* Inter-measurement period uses PLL divider with 1.075 oscillator correction */
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static const struct u32_fract vl53l1x_osc_correction = {
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.numerator = 1075,
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.denominator = 1000,
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};
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enum vl53l1x_distance_mode {
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VL53L1X_SHORT,
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VL53L1X_LONG,
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};
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struct vl53l1x_data {
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struct regmap *regmap;
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struct completion completion;
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struct reset_control *xshut_reset;
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enum vl53l1x_distance_mode distance_mode;
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u8 gpio_polarity;
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int irq;
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};
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+
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static const struct regmap_range vl53l1x_volatile_ranges[] = {
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regmap_reg_range(VL53L1X_REG_GPIO__TIO_HV_STATUS,
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VL53L1X_REG_GPIO__TIO_HV_STATUS),
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regmap_reg_range(VL53L1X_REG_RESULT__RANGE_STATUS,
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VL53L1X_REG_RESULT__RANGE_STATUS),
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regmap_reg_range(VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
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VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 + 1),
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regmap_reg_range(VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL,
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VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL + 1),
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regmap_reg_range(VL53L1X_REG_FIRMWARE__SYSTEM_STATUS,
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VL53L1X_REG_FIRMWARE__SYSTEM_STATUS),
116
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};
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+
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static const struct regmap_access_table vl53l1x_volatile_table = {
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.yes_ranges = vl53l1x_volatile_ranges,
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.n_yes_ranges = ARRAY_SIZE(vl53l1x_volatile_ranges),
121
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};
122
+
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static const struct regmap_range vl53l1x_write_only_ranges[] = {
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regmap_reg_range(VL53L1X_REG_SOFT_RESET, VL53L1X_REG_SOFT_RESET),
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regmap_reg_range(VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR,
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VL53L1X_REG_SYSTEM__MODE_START),
127
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};
128
+
129
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static const struct regmap_access_table vl53l1x_readable_table = {
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.no_ranges = vl53l1x_write_only_ranges,
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.n_no_ranges = ARRAY_SIZE(vl53l1x_write_only_ranges),
132
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};
133
+
134
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static const struct regmap_config vl53l1x_regmap_config = {
135
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.reg_bits = 16,
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.val_bits = 8,
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/* MODEL_ID is 16-bit. +1 covers the second byte at 0x0110 */
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.max_register = VL53L1X_REG_IDENTIFICATION__MODEL_ID + 1,
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.cache_type = REGCACHE_MAPLE,
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.volatile_table = &vl53l1x_volatile_table,
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.rd_table = &vl53l1x_readable_table,
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};
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+
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static int vl53l1x_read_u16(struct vl53l1x_data *data, u16 reg, u16 *val)
145
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{
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__be16 buf;
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int ret;
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ret = regmap_bulk_read(data->regmap, reg, &buf, sizeof(buf));
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if (ret)
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return ret;
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*val = be16_to_cpu(buf);
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return 0;
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}
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static int vl53l1x_write_u16(struct vl53l1x_data *data, u16 reg, u16 val)
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{
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__be16 buf = cpu_to_be16(val);
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+
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return regmap_bulk_write(data->regmap, reg, &buf, sizeof(buf));
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}
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+
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static int vl53l1x_write_u32(struct vl53l1x_data *data, u16 reg, u32 val)
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{
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__be32 buf = cpu_to_be32(val);
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+
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return regmap_bulk_write(data->regmap, reg, &buf, sizeof(buf));
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}
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static int vl53l1x_clear_irq(struct vl53l1x_data *data)
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{
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return regmap_write(data->regmap, VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR, 0x01);
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}
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static int vl53l1x_start_ranging(struct vl53l1x_data *data)
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{
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int ret;
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+
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ret = vl53l1x_clear_irq(data);
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if (ret)
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return ret;
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+
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return regmap_write(data->regmap, VL53L1X_REG_SYSTEM__MODE_START,
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VL53L1X_MODE_START_TIMED);
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}
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+
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static int vl53l1x_stop_ranging(struct vl53l1x_data *data)
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{
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return regmap_write(data->regmap, VL53L1X_REG_SYSTEM__MODE_START,
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VL53L1X_MODE_START_STOP);
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}
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+
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/*
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* Default configuration blob from ST's VL53L1X Ultra Lite Driver
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* (STSW-IMG009).
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*/
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static const u8 vl53l1x_default_config[] = {
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0x00, 0x00, 0x00, 0x01, 0x02, 0x00, 0x02, 0x08, /* reg 0x2d..0x34 */
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0x00, 0x08, 0x10, 0x01, 0x01, 0x00, 0x00, 0x00, /* reg 0x35..0x3c */
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0x00, 0xFF, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, /* reg 0x3d..0x44 */
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0x00, 0x20, 0x0B, 0x00, 0x00, 0x02, 0x0A, 0x21, /* reg 0x45..0x4c */
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0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0xC8, /* reg 0x4d..0x54 */
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0x00, 0x00, 0x38, 0xFF, 0x01, 0x00, 0x08, 0x00, /* reg 0x55..0x5c */
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0x00, 0x01, 0xCC, 0x0F, 0x01, 0xF1, 0x0D, 0x01, /* reg 0x5d..0x64 */
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0x68, 0x00, 0x80, 0x08, 0xB8, 0x00, 0x00, 0x00, /* reg 0x65..0x6c */
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0x00, 0x0F, 0x89, 0x00, 0x00, 0x00, 0x00, 0x00, /* reg 0x6d..0x74 */
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0x00, 0x00, 0x01, 0x0F, 0x0D, 0x0E, 0x0E, 0x00, /* reg 0x75..0x7c */
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0x00, 0x02, 0xC7, 0xFF, 0x9B, 0x00, 0x00, 0x00, /* reg 0x7d..0x84 */
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0x01, 0x00, 0x00, /* reg 0x85..0x87 */
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};
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static int vl53l1x_chip_init(struct vl53l1x_data *data)
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{
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struct device *dev = regmap_get_device(data->regmap);
216
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unsigned int val;
217
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u16 model_id;
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int ret;
219
+
220
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if (!data->xshut_reset) {
221
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ret = regmap_write(data->regmap, VL53L1X_REG_SOFT_RESET, 0x00);
222
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if (ret)
223
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return ret;
224
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fsleep(100); /* conservative reset pulse, no spec */
225
+
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ret = regmap_write(data->regmap, VL53L1X_REG_SOFT_RESET, 0x01);
227
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if (ret)
228
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return ret;
229
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fsleep(1000); /* conservative boot wait, no spec */
230
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}
231
+
232
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ret = regmap_read_poll_timeout(data->regmap,
233
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VL53L1X_REG_FIRMWARE__SYSTEM_STATUS, val,
234
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val & BIT(0),
235
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1 * USEC_PER_MSEC,
236
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100 * USEC_PER_MSEC);
237
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if (ret)
238
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return dev_err_probe(dev, ret, "firmware boot timeout\n");
239
+
240
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ret = vl53l1x_read_u16(data, VL53L1X_REG_IDENTIFICATION__MODEL_ID,
241
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&model_id);
242
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if (ret)
243
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return ret;
244
+
245
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if (model_id != VL53L1X_MODEL_ID_VAL)
246
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dev_info(dev, "unknown model id: 0x%04x, continuing\n", model_id);
247
+
248
+
ret = regmap_bulk_write(data->regmap, VL53L1X_REG_DEFAULT_CONFIG,
249
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vl53l1x_default_config,
250
+
sizeof(vl53l1x_default_config));
251
+
if (ret)
252
+
return ret;
253
+
254
+
ret = regmap_read(data->regmap, VL53L1X_REG_GPIO_HV_MUX__CTRL, &val);
255
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if (ret)
256
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return ret;
257
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data->gpio_polarity = !!(val & VL53L1X_GPIO_HV_MUX_POLARITY);
258
+
259
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/* Initial ranging cycle for VHV calibration */
260
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ret = vl53l1x_start_ranging(data);
261
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if (ret)
262
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return ret;
263
+
264
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/* 1ms poll, 1s timeout covers max timing budgets (per ST Ultra Lite Driver) */
265
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ret = regmap_read_poll_timeout(data->regmap,
266
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VL53L1X_REG_GPIO__TIO_HV_STATUS, val,
267
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(val & 1) != data->gpio_polarity,
268
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1 * USEC_PER_MSEC,
269
+
1000 * USEC_PER_MSEC);
270
+
if (ret)
271
+
return ret;
272
+
273
+
ret = vl53l1x_clear_irq(data);
274
+
if (ret)
275
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return ret;
276
+
277
+
ret = vl53l1x_stop_ranging(data);
278
+
if (ret)
279
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return ret;
280
+
281
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ret = regmap_write(data->regmap,
282
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VL53L1X_REG_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
283
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VL53L1X_VHV_LOOP_BOUND_TWO);
284
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if (ret)
285
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return ret;
286
+
287
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return regmap_write(data->regmap, VL53L1X_REG_VHV_CONFIG__INIT, 0x00);
288
+
}
289
+
290
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static const struct reg_sequence vl53l1x_mode_short[] = {
291
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{ VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14 },
292
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{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A, 0x07 },
293
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{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B, 0x05 },
294
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{ VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH, 0x38 },
295
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{ VL53L1X_REG_SD_CONFIG__WOI_SD0, 0x07 },
296
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{ VL53L1X_REG_SD_CONFIG__WOI_SD1, 0x05 },
297
+
{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0, 0x06 },
298
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{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1, 0x06 },
299
+
};
300
+
301
+
static const struct reg_sequence vl53l1x_mode_long[] = {
302
+
{ VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A },
303
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{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F },
304
+
{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D },
305
+
{ VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8 },
306
+
{ VL53L1X_REG_SD_CONFIG__WOI_SD0, 0x0F },
307
+
{ VL53L1X_REG_SD_CONFIG__WOI_SD1, 0x0D },
308
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{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0, 0x0E },
309
+
{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1, 0x0E },
310
+
};
311
+
312
+
static const struct {
313
+
const struct reg_sequence *regs;
314
+
size_t num_regs;
315
+
} vl53l1x_mode_configs[] = {
316
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[VL53L1X_SHORT] = { vl53l1x_mode_short, ARRAY_SIZE(vl53l1x_mode_short) },
317
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[VL53L1X_LONG] = { vl53l1x_mode_long, ARRAY_SIZE(vl53l1x_mode_long) },
318
+
};
319
+
320
+
static int vl53l1x_set_distance_mode(struct vl53l1x_data *data,
321
+
enum vl53l1x_distance_mode mode)
322
+
{
323
+
int ret;
324
+
325
+
if (mode >= ARRAY_SIZE(vl53l1x_mode_configs))
326
+
return -EINVAL;
327
+
328
+
ret = regmap_multi_reg_write(data->regmap,
329
+
vl53l1x_mode_configs[mode].regs,
330
+
vl53l1x_mode_configs[mode].num_regs);
331
+
if (ret)
332
+
return ret;
333
+
334
+
data->distance_mode = mode;
335
+
return 0;
336
+
}
337
+
338
+
/*
339
+
* The timing budget controls how long the sensor spends collecting
340
+
* a single range measurement. Pre-computed TIMEOUT_MACROP register
341
+
* values from ST's VL53L1X Ultra Lite Driver.
342
+
*/
343
+
static int vl53l1x_set_timing_budget(struct vl53l1x_data *data, u16 budget_ms)
344
+
{
345
+
u16 timeout_a, timeout_b;
346
+
int ret;
347
+
348
+
switch (data->distance_mode) {
349
+
case VL53L1X_SHORT:
350
+
switch (budget_ms) {
351
+
case 15:
352
+
timeout_a = 0x001D;
353
+
timeout_b = 0x0027;
354
+
break;
355
+
case 20:
356
+
timeout_a = 0x0051;
357
+
timeout_b = 0x006E;
358
+
break;
359
+
case 33:
360
+
timeout_a = 0x00D6;
361
+
timeout_b = 0x006E;
362
+
break;
363
+
case 50:
364
+
timeout_a = 0x01AE;
365
+
timeout_b = 0x01E8;
366
+
break;
367
+
case 100:
368
+
timeout_a = 0x02E1;
369
+
timeout_b = 0x0388;
370
+
break;
371
+
case 200:
372
+
timeout_a = 0x03E1;
373
+
timeout_b = 0x0496;
374
+
break;
375
+
case 500:
376
+
timeout_a = 0x0591;
377
+
timeout_b = 0x05C1;
378
+
break;
379
+
default:
380
+
return -EINVAL;
381
+
}
382
+
break;
383
+
case VL53L1X_LONG:
384
+
switch (budget_ms) {
385
+
case 20:
386
+
timeout_a = 0x001E;
387
+
timeout_b = 0x0022;
388
+
break;
389
+
case 33:
390
+
timeout_a = 0x0060;
391
+
timeout_b = 0x006E;
392
+
break;
393
+
case 50:
394
+
timeout_a = 0x00AD;
395
+
timeout_b = 0x00C6;
396
+
break;
397
+
case 100:
398
+
timeout_a = 0x01CC;
399
+
timeout_b = 0x01EA;
400
+
break;
401
+
case 200:
402
+
timeout_a = 0x02D9;
403
+
timeout_b = 0x02F8;
404
+
break;
405
+
case 500:
406
+
timeout_a = 0x048F;
407
+
timeout_b = 0x04A4;
408
+
break;
409
+
default:
410
+
return -EINVAL;
411
+
}
412
+
break;
413
+
default:
414
+
return -EINVAL;
415
+
}
416
+
417
+
ret = vl53l1x_write_u16(data, VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_A,
418
+
timeout_a);
419
+
if (ret)
420
+
return ret;
421
+
422
+
return vl53l1x_write_u16(data, VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_B,
423
+
timeout_b);
424
+
}
425
+
426
+
static int vl53l1x_set_inter_measurement_ms(struct vl53l1x_data *data,
427
+
u16 period_ms)
428
+
{
429
+
u16 osc_calibrate_val;
430
+
u16 clock_pll;
431
+
u32 inter_meas;
432
+
int ret;
433
+
434
+
ret = vl53l1x_read_u16(data, VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL,
435
+
&osc_calibrate_val);
436
+
if (ret)
437
+
return ret;
438
+
439
+
clock_pll = osc_calibrate_val & VL53L1X_OSC_CALIBRATE_MASK;
440
+
inter_meas = (clock_pll * period_ms * vl53l1x_osc_correction.numerator) /
441
+
vl53l1x_osc_correction.denominator;
442
+
443
+
return vl53l1x_write_u32(data,
444
+
VL53L1X_REG_SYSTEM__INTERMEASUREMENT_PERIOD,
445
+
inter_meas);
446
+
}
447
+
448
+
static int vl53l1x_read_proximity(struct vl53l1x_data *data, int *val)
449
+
{
450
+
unsigned int range_status;
451
+
u16 distance;
452
+
int ret;
453
+
454
+
if (data->irq) {
455
+
reinit_completion(&data->completion);
456
+
457
+
ret = vl53l1x_clear_irq(data);
458
+
if (ret)
459
+
return ret;
460
+
461
+
if (!wait_for_completion_timeout(&data->completion, HZ))
462
+
return -ETIMEDOUT;
463
+
} else {
464
+
unsigned int rdy;
465
+
466
+
/* 1ms poll, 1s timeout covers max timing budgets (per ST Ultra Lite Driver) */
467
+
ret = regmap_read_poll_timeout(data->regmap,
468
+
VL53L1X_REG_GPIO__TIO_HV_STATUS, rdy,
469
+
(rdy & 1) != data->gpio_polarity,
470
+
1 * USEC_PER_MSEC,
471
+
1000 * USEC_PER_MSEC);
472
+
if (ret)
473
+
return ret;
474
+
}
475
+
476
+
ret = regmap_read(data->regmap, VL53L1X_REG_RESULT__RANGE_STATUS,
477
+
&range_status);
478
+
if (ret)
479
+
goto clear_irq;
480
+
481
+
if (FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) !=
482
+
VL53L1X_RANGE_STATUS_VALID) {
483
+
ret = -EIO;
484
+
goto clear_irq;
485
+
}
486
+
487
+
ret = vl53l1x_read_u16(data,
488
+
VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
489
+
&distance);
490
+
if (ret)
491
+
goto clear_irq;
492
+
493
+
*val = distance;
494
+
495
+
clear_irq:
496
+
vl53l1x_clear_irq(data);
497
+
return ret;
498
+
}
499
+
500
+
static const struct iio_chan_spec vl53l1x_channels[] = {
501
+
{
502
+
.type = IIO_DISTANCE,
503
+
.info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
504
+
BIT(IIO_CHAN_INFO_SCALE),
505
+
.scan_index = 0,
506
+
.scan_type = {
507
+
.sign = 'u',
508
+
.realbits = 16,
509
+
.storagebits = 16,
510
+
},
511
+
},
512
+
IIO_CHAN_SOFT_TIMESTAMP(1),
513
+
};
514
+
515
+
static int vl53l1x_read_raw(struct iio_dev *indio_dev,
516
+
const struct iio_chan_spec *chan,
517
+
int *val, int *val2, long mask)
518
+
{
519
+
struct vl53l1x_data *data = iio_priv(indio_dev);
520
+
int ret;
521
+
522
+
if (chan->type != IIO_DISTANCE)
523
+
return -EINVAL;
524
+
525
+
switch (mask) {
526
+
case IIO_CHAN_INFO_RAW:
527
+
if (!iio_device_claim_direct(indio_dev))
528
+
return -EBUSY;
529
+
ret = vl53l1x_read_proximity(data, val);
530
+
iio_device_release_direct(indio_dev);
531
+
if (ret)
532
+
return ret;
533
+
return IIO_VAL_INT;
534
+
case IIO_CHAN_INFO_SCALE:
535
+
*val = 0;
536
+
*val2 = 1000;
537
+
return IIO_VAL_INT_PLUS_MICRO;
538
+
default:
539
+
return -EINVAL;
540
+
}
541
+
}
542
+
543
+
static const struct iio_info vl53l1x_info = {
544
+
.read_raw = vl53l1x_read_raw,
545
+
.validate_trigger = iio_validate_own_trigger,
546
+
};
547
+
548
+
static irqreturn_t vl53l1x_trigger_handler(int irq, void *priv)
549
+
{
550
+
struct iio_poll_func *pf = priv;
551
+
struct iio_dev *indio_dev = pf->indio_dev;
552
+
struct vl53l1x_data *data = iio_priv(indio_dev);
553
+
struct {
554
+
u16 distance;
555
+
aligned_s64 timestamp;
556
+
} scan = { };
557
+
unsigned int range_status;
558
+
int ret;
559
+
560
+
ret = regmap_read(data->regmap, VL53L1X_REG_RESULT__RANGE_STATUS,
561
+
&range_status);
562
+
if (ret)
563
+
goto notify_and_clear_irq;
564
+
if (FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) !=
565
+
VL53L1X_RANGE_STATUS_VALID)
566
+
goto notify_and_clear_irq;
567
+
568
+
ret = vl53l1x_read_u16(data,
569
+
VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
570
+
&scan.distance);
571
+
if (ret)
572
+
goto notify_and_clear_irq;
573
+
574
+
iio_push_to_buffers_with_ts(indio_dev, &scan, sizeof(scan),
575
+
iio_get_time_ns(indio_dev));
576
+
577
+
notify_and_clear_irq:
578
+
iio_trigger_notify_done(indio_dev->trig);
579
+
vl53l1x_clear_irq(data);
580
+
581
+
return IRQ_HANDLED;
582
+
}
583
+
584
+
static irqreturn_t vl53l1x_irq_handler(int irq, void *priv)
585
+
{
586
+
struct iio_dev *indio_dev = priv;
587
+
struct vl53l1x_data *data = iio_priv(indio_dev);
588
+
589
+
if (iio_buffer_enabled(indio_dev))
590
+
iio_trigger_poll(indio_dev->trig);
591
+
else
592
+
complete(&data->completion);
593
+
594
+
return IRQ_HANDLED;
595
+
}
596
+
597
+
static const struct iio_trigger_ops vl53l1x_trigger_ops = {
598
+
.validate_device = iio_trigger_validate_own_device,
599
+
};
600
+
601
+
static void vl53l1x_stop_ranging_action(void *priv)
602
+
{
603
+
vl53l1x_stop_ranging(priv);
604
+
}
605
+
606
+
static int vl53l1x_configure_irq(struct device *dev, int irq,
607
+
struct iio_dev *indio_dev)
608
+
{
609
+
struct vl53l1x_data *data = iio_priv(indio_dev);
610
+
int ret;
611
+
612
+
ret = devm_request_irq(dev, irq, vl53l1x_irq_handler, IRQF_NO_THREAD,
613
+
indio_dev->name, indio_dev);
614
+
if (ret)
615
+
return ret;
616
+
617
+
ret = regmap_write(data->regmap, VL53L1X_REG_SYSTEM__INTERRUPT_CONFIG_GPIO,
618
+
VL53L1X_INT_NEW_SAMPLE_READY);
619
+
if (ret)
620
+
return dev_err_probe(dev, ret, "failed to configure IRQ\n");
621
+
622
+
return 0;
623
+
}
624
+
625
+
static int vl53l1x_probe(struct i2c_client *client)
626
+
{
627
+
struct device *dev = &client->dev;
628
+
struct vl53l1x_data *data;
629
+
struct iio_dev *indio_dev;
630
+
int ret;
631
+
632
+
indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
633
+
if (!indio_dev)
634
+
return -ENOMEM;
635
+
636
+
data = iio_priv(indio_dev);
637
+
data->irq = client->irq;
638
+
639
+
data->regmap = devm_regmap_init_i2c(client, &vl53l1x_regmap_config);
640
+
if (IS_ERR(data->regmap))
641
+
return dev_err_probe(dev, PTR_ERR(data->regmap),
642
+
"regmap initialization failed\n");
643
+
644
+
ret = devm_regulator_get_enable(dev, "vdd");
645
+
if (ret)
646
+
return dev_err_probe(dev, ret, "Failed to enable VDD regulator\n");
647
+
648
+
/*
649
+
* XSHUT held low puts the chip in hardware standby. All register
650
+
* state is lost on de-assert so this is functionally a reset.
651
+
*/
652
+
data->xshut_reset = devm_reset_control_get_optional_exclusive_deasserted(dev, NULL);
653
+
if (IS_ERR(data->xshut_reset))
654
+
return dev_err_probe(dev, PTR_ERR(data->xshut_reset),
655
+
"Cannot get reset control\n");
656
+
657
+
/*
658
+
* 1.2 ms max boot duration.
659
+
* Datasheet Section 3.6 "Power up and boot sequence".
660
+
*/
661
+
fsleep(1200);
662
+
663
+
ret = vl53l1x_chip_init(data);
664
+
if (ret)
665
+
return ret;
666
+
667
+
ret = vl53l1x_set_distance_mode(data, VL53L1X_LONG);
668
+
if (ret)
669
+
return ret;
670
+
671
+
/* 50 ms timing budget (per ST Ultra Lite Driver) */
672
+
ret = vl53l1x_set_timing_budget(data, 50);
673
+
if (ret)
674
+
return ret;
675
+
676
+
/* 50 ms inter-measurement period (per ST Ultra Lite Driver) */
677
+
ret = vl53l1x_set_inter_measurement_ms(data, 50);
678
+
if (ret)
679
+
return ret;
680
+
681
+
/*
682
+
* The hardware only supports "autonomous" continuous ranging mode.
683
+
* Start ranging here and leave it running for the lifetime of
684
+
* the device. Both direct reads and the buffer path rely on this.
685
+
*/
686
+
ret = vl53l1x_start_ranging(data);
687
+
if (ret)
688
+
return ret;
689
+
690
+
ret = devm_add_action_or_reset(dev, vl53l1x_stop_ranging_action, data);
691
+
if (ret)
692
+
return ret;
693
+
694
+
indio_dev->name = "vl53l1x";
695
+
indio_dev->info = &vl53l1x_info;
696
+
indio_dev->channels = vl53l1x_channels;
697
+
indio_dev->num_channels = ARRAY_SIZE(vl53l1x_channels);
698
+
indio_dev->modes = INDIO_DIRECT_MODE;
699
+
700
+
if (client->irq) {
701
+
struct iio_trigger *trig;
702
+
703
+
init_completion(&data->completion);
704
+
705
+
trig = devm_iio_trigger_alloc(dev, "%s-dev%d", indio_dev->name,
706
+
iio_device_id(indio_dev));
707
+
if (!trig)
708
+
return -ENOMEM;
709
+
710
+
trig->ops = &vl53l1x_trigger_ops;
711
+
iio_trigger_set_drvdata(trig, indio_dev);
712
+
ret = devm_iio_trigger_register(dev, trig);
713
+
if (ret)
714
+
return ret;
715
+
716
+
indio_dev->trig = iio_trigger_get(trig);
717
+
718
+
ret = vl53l1x_configure_irq(dev, client->irq, indio_dev);
719
+
if (ret)
720
+
return ret;
721
+
722
+
ret = devm_iio_triggered_buffer_setup(dev, indio_dev, NULL,
723
+
&vl53l1x_trigger_handler,
724
+
NULL);
725
+
if (ret)
726
+
return ret;
727
+
}
728
+
729
+
return devm_iio_device_register(dev, indio_dev);
730
+
}
731
+
732
+
static const struct i2c_device_id vl53l1x_id[] = {
733
+
{ "vl53l1x" },
734
+
{ }
735
+
};
736
+
MODULE_DEVICE_TABLE(i2c, vl53l1x_id);
737
+
738
+
static const struct of_device_id st_vl53l1x_dt_match[] = {
739
+
{ .compatible = "st,vl53l1x" },
740
+
{ }
741
+
};
742
+
MODULE_DEVICE_TABLE(of, st_vl53l1x_dt_match);
743
+
744
+
static struct i2c_driver vl53l1x_driver = {
745
+
.driver = {
746
+
.name = "vl53l1x-i2c",
747
+
.of_match_table = st_vl53l1x_dt_match,
748
+
},
749
+
.probe = vl53l1x_probe,
750
+
.id_table = vl53l1x_id,
751
+
};
752
+
module_i2c_driver(vl53l1x_driver);
753
+
754
+
MODULE_AUTHOR("Siratul Islam <email@sirat.me>");
755
+
MODULE_DESCRIPTION("ST VL53L1X ToF ranging sensor driver");
756
+
MODULE_LICENSE("Dual BSD/GPL");