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// 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>
*
* Datasheet available at
* <https://www.st.com/resource/en/datasheet/vl53l0x.pdf>
*
* Default 7-bit i2c slave address 0x29.
*
* TODO: FIFO buffer, continuous mode, interrupts, range selection,
* sensor ID check.
*/
#include <linux/delay.h>
#include <linux/i2c.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_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;
};
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;
ret = i2c_smbus_write_byte_data(client, VL_REG_SYSRANGE_START, 1);
if (ret < 0)
return ret;
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->dev.parent = &client->dev;
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;
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");
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