[PATCH 2/3] iio: proximity: add driver for ST VL53L1X ToF sensor

[Siratul Islam <email@sirat.me>]

Add support for the STMicroelectronics VL53L1X Time-of-Flight
ranging sensor with I2C interface.

Signed-off-by: Siratul Islam <email@sirat.me>
---
 drivers/iio/proximity/Kconfig       |  14 +
 drivers/iio/proximity/Makefile      |   1 +
 drivers/iio/proximity/vl53l1x-i2c.c | 901 ++++++++++++++++++++++++++++
 3 files changed, 916 insertions(+)
 create mode 100644 drivers/iio/proximity/vl53l1x-i2c.c

diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
index 6070974c2c85..3b0fdeb03ecd 100644
--- a/drivers/iio/proximity/Kconfig
+++ b/drivers/iio/proximity/Kconfig
@@ -244,6 +244,20 @@ config VL53L0X_I2C
 	  To compile this driver as a module, choose M here: the
 	  module will be called vl53l0x-i2c.
 
+config VL53L1X_I2C
+	tristate "STMicroelectronics VL53L1X ToF ranger sensor (I2C)"
+	depends on I2C
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+	select REGMAP_I2C
+	help
+	  Say Y here to build a driver for STMicroelectronics VL53L1X
+	  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 vl53l1x-i2c.
+
 config AW96103
 	tristate "AW96103/AW96105 Awinic proximity sensor"
 	select REGMAP_I2C
diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile
index 152034d38c49..4352833dd8a4 100644
--- a/drivers/iio/proximity/Makefile
+++ b/drivers/iio/proximity/Makefile
@@ -23,5 +23,6 @@ obj-$(CONFIG_SX_COMMON) 	+= sx_common.o
 obj-$(CONFIG_SX9500)		+= sx9500.o
 obj-$(CONFIG_VCNL3020)		+= vcnl3020.o
 obj-$(CONFIG_VL53L0X_I2C)	+= vl53l0x-i2c.o
+obj-$(CONFIG_VL53L1X_I2C)	+= vl53l1x-i2c.o
 obj-$(CONFIG_AW96103)		+= aw96103.o
 
diff --git a/drivers/iio/proximity/vl53l1x-i2c.c b/drivers/iio/proximity/vl53l1x-i2c.c
new file mode 100644
index 000000000000..b4122fce0de1
--- /dev/null
+++ b/drivers/iio/proximity/vl53l1x-i2c.c
@@ -0,0 +1,901 @@
+// SPDX-License-Identifier: GPL-2.0 OR BSD-2-Clause
+/*
+ * Support for ST VL53L1X FlightSense ToF Ranging Sensor on a i2c bus.
+ *
+ * Copyright (C) 2026 Siratul Islam <email@sirat.me>
+ *
+ * Datasheet available at
+ * <https://www.st.com/resource/en/datasheet/vl53l1x.pdf>
+ *
+ * Default 7-bit i2c slave address 0x29.
+ *
+ * The VL53L1X requires a firmware configuration blob to be loaded at boot.
+ * Register values for the default configuration are taken from
+ * ST's VL53L1X Ultra Lite Driver (STSW-IMG009).
+ */
+
+#include <linux/bits.h>
+#include <linux/delay.h>
+#include <linux/gpio/consumer.h>
+#include <linux/i2c.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#define VL53L1X_SOFT_RESET 0x0000
+#define VL53L1X_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
+#define VL53L1X_VHV_CONFIG__INIT 0x000B
+#define VL53L1X_GPIO_HV_MUX__CTRL 0x0030
+#define VL53L1X_GPIO__TIO_HV_STATUS 0x0031
+#define VL53L1X_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
+#define VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
+#define VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_A 0x005E
+#define VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
+#define VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_B 0x0061
+#define VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
+#define VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
+#define VL53L1X_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
+#define VL53L1X_SD_CONFIG__WOI_SD0 0x0078
+#define VL53L1X_SD_CONFIG__WOI_SD1 0x0079
+#define VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0 0x007A
+#define VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1 0x007B
+#define VL53L1X_SYSTEM__INTERRUPT_CLEAR 0x0086
+#define VL53L1X_SYSTEM__MODE_START 0x0087
+#define VL53L1X_RESULT__RANGE_STATUS 0x0089
+#define VL53L1X_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
+#define VL53L1X_RESULT__OSC_CALIBRATE_VAL 0x00DE
+#define VL53L1X_FIRMWARE__SYSTEM_STATUS 0x00E5
+#define VL53L1X_IDENTIFICATION__MODEL_ID 0x010F
+
+#define VL53L1X_MODEL_ID_VAL 0xEACC
+
+#define VL53L1X_DEFAULT_CONFIG_ADDR 0x2D
+
+#define VL53L1X_MODE_START_TIMED 0x40
+#define VL53L1X_MODE_START_STOP 0x00
+
+#define VL53L1X_INT_NEW_SAMPLE_READY 0x02
+
+#define VL53L1X_GPIO_HV_MUX_POLARITY BIT(4)
+
+#define VL53L1X_VHV_LOOP_BOUND_TWO 0x09
+
+#define VL53L1X_RANGE_STATUS_MASK GENMASK(4, 0)
+#define VL53L1X_RANGE_STATUS_VALID 9
+
+/* Inter-measurement period uses PLL divider with 1.075 oscillator correction */
+#define VL53L1X_OSC_CALIBRATE_MASK GENMASK(9, 0)
+#define VL53L1X_OSC_CORRECTION_FACTOR 1075
+#define VL53L1X_OSC_CORRECTION_DIVISOR 1000
+
+enum vl53l1x_distance_mode {
+	VL53L1X_SHORT,
+	VL53L1X_LONG,
+};
+
+struct vl53l1x_data {
+	struct i2c_client *client;
+	struct regmap *regmap;
+	struct completion completion;
+	struct regulator *vdd_supply;
+	struct gpio_desc *reset_gpio;
+	struct iio_trigger *trig;
+	enum vl53l1x_distance_mode distance_mode;
+	u16 osc_calibrate_val;
+	u8 gpio_polarity;
+};
+
+static const struct regmap_config vl53l1x_regmap_config = {
+	.reg_bits = 16,
+	.val_bits = 8,
+	.reg_format_endian = REGMAP_ENDIAN_BIG,
+};
+
+static int vl53l1x_read_u16(struct vl53l1x_data *data, u16 reg, u16 *val)
+{
+	__be16 buf;
+	int ret;
+
+	ret = regmap_bulk_read(data->regmap, reg, &buf, 2);
+	if (ret)
+		return ret;
+
+	*val = be16_to_cpu(buf);
+	return 0;
+}
+
+static int vl53l1x_write_u16(struct vl53l1x_data *data, u16 reg, u16 val)
+{
+	__be16 buf = cpu_to_be16(val);
+
+	return regmap_bulk_write(data->regmap, reg, &buf, 2);
+}
+
+static int vl53l1x_write_u32(struct vl53l1x_data *data, u16 reg, u32 val)
+{
+	__be32 buf = cpu_to_be32(val);
+
+	return regmap_bulk_write(data->regmap, reg, &buf, 4);
+}
+
+static int vl53l1x_clear_irq(struct vl53l1x_data *data)
+{
+	return regmap_write(data->regmap, VL53L1X_SYSTEM__INTERRUPT_CLEAR,
+			    0x01);
+}
+
+static int vl53l1x_start_ranging(struct vl53l1x_data *data)
+{
+	int ret;
+
+	ret = vl53l1x_clear_irq(data);
+	if (ret)
+		return ret;
+
+	return regmap_write(data->regmap, VL53L1X_SYSTEM__MODE_START,
+			    VL53L1X_MODE_START_TIMED);
+}
+
+static int vl53l1x_stop_ranging(struct vl53l1x_data *data)
+{
+	return regmap_write(data->regmap, VL53L1X_SYSTEM__MODE_START,
+			    VL53L1X_MODE_START_STOP);
+}
+
+static int vl53l1x_data_ready(struct vl53l1x_data *data, bool *ready)
+{
+	unsigned int status;
+	int ret;
+
+	ret = regmap_read(data->regmap, VL53L1X_GPIO__TIO_HV_STATUS, &status);
+	if (ret)
+		return ret;
+
+	*ready = (status & 0x01) == (!data->gpio_polarity);
+	return 0;
+}
+
+/*
+ * Default configuration blob from ST's VL53L1X ULD (STSW-IMG009).
+ */
+static const u8 vl53l1x_default_config[] = {
+	0x00, /* 0x2D */
+	0x00, /* 0x2E */
+	0x00, /* 0x2F */
+	0x01, /* 0x30 */
+	0x02, /* 0x31 */
+	0x00, /* 0x32 */
+	0x02, /* 0x33 */
+	0x08, /* 0x34 */
+	0x00, /* 0x35 */
+	0x08, /* 0x36 */
+	0x10, /* 0x37 */
+	0x01, /* 0x38 */
+	0x01, /* 0x39 */
+	0x00, /* 0x3A */
+	0x00, /* 0x3B */
+	0x00, /* 0x3C */
+	0x00, /* 0x3D */
+	0xFF, /* 0x3E */
+	0x00, /* 0x3F */
+	0x0F, /* 0x40 */
+	0x00, /* 0x41 */
+	0x00, /* 0x42 */
+	0x00, /* 0x43 */
+	0x00, /* 0x44 */
+	0x00, /* 0x45 */
+	0x20, /* 0x46 */
+	0x0B, /* 0x47 */
+	0x00, /* 0x48 */
+	0x00, /* 0x49 */
+	0x02, /* 0x4A */
+	0x0A, /* 0x4B */
+	0x21, /* 0x4C */
+	0x00, /* 0x4D */
+	0x00, /* 0x4E */
+	0x05, /* 0x4F */
+	0x00, /* 0x50 */
+	0x00, /* 0x51 */
+	0x00, /* 0x52 */
+	0x00, /* 0x53 */
+	0xC8, /* 0x54 */
+	0x00, /* 0x55 */
+	0x00, /* 0x56 */
+	0x38, /* 0x57 */
+	0xFF, /* 0x58 */
+	0x01, /* 0x59 */
+	0x00, /* 0x5A */
+	0x08, /* 0x5B */
+	0x00, /* 0x5C */
+	0x00, /* 0x5D */
+	0x01, /* 0x5E */
+	0xCC, /* 0x5F */
+	0x0F, /* 0x60 */
+	0x01, /* 0x61 */
+	0xF1, /* 0x62 */
+	0x0D, /* 0x63 */
+	0x01, /* 0x64 */
+	0x68, /* 0x65 */
+	0x00, /* 0x66 */
+	0x80, /* 0x67 */
+	0x08, /* 0x68 */
+	0xB8, /* 0x69 */
+	0x00, /* 0x6A */
+	0x00, /* 0x6B */
+	0x00, /* 0x6C */
+	0x00, /* 0x6D */
+	0x0F, /* 0x6E */
+	0x89, /* 0x6F */
+	0x00, /* 0x70 */
+	0x00, /* 0x71 */
+	0x00, /* 0x72 */
+	0x00, /* 0x73 */
+	0x00, /* 0x74 */
+	0x00, /* 0x75 */
+	0x00, /* 0x76 */
+	0x01, /* 0x77 */
+	0x0F, /* 0x78 */
+	0x0D, /* 0x79 */
+	0x0E, /* 0x7A */
+	0x0E, /* 0x7B */
+	0x00, /* 0x7C */
+	0x00, /* 0x7D */
+	0x02, /* 0x7E */
+	0xC7, /* 0x7F */
+	0xFF, /* 0x80 */
+	0x9B, /* 0x81 */
+	0x00, /* 0x82 */
+	0x00, /* 0x83 */
+	0x00, /* 0x84 */
+	0x01, /* 0x85 */
+	0x00, /* 0x86 */
+	0x00, /* 0x87 */
+};
+
+static int vl53l1x_chip_init(struct vl53l1x_data *data)
+{
+	struct device *dev = &data->client->dev;
+	unsigned int val;
+	u16 model_id;
+	int tries = 200;
+	bool ready;
+	int ret;
+
+	ret = regmap_write(data->regmap, VL53L1X_SOFT_RESET, 0x00);
+	if (ret)
+		return ret;
+	usleep_range(100, 200);
+
+	ret = regmap_write(data->regmap, VL53L1X_SOFT_RESET, 0x01);
+	if (ret)
+		return ret;
+	usleep_range(1000, 2000);
+
+	ret = regmap_read_poll_timeout(data->regmap,
+				       VL53L1X_FIRMWARE__SYSTEM_STATUS, val,
+				       val & BIT(0), 1000, 100000);
+	if (ret) {
+		dev_err(dev, "firmware boot timeout\n");
+		return ret;
+	}
+
+	ret = vl53l1x_read_u16(data, VL53L1X_IDENTIFICATION__MODEL_ID,
+			       &model_id);
+	if (ret)
+		return ret;
+
+	if (model_id != VL53L1X_MODEL_ID_VAL) {
+		dev_err(dev, "unknown model id: 0x%04x\n", model_id);
+		return -ENODEV;
+	}
+
+	ret = vl53l1x_read_u16(data, VL53L1X_RESULT__OSC_CALIBRATE_VAL,
+			       &data->osc_calibrate_val);
+	if (ret)
+		return ret;
+
+	ret = regmap_bulk_write(data->regmap, VL53L1X_DEFAULT_CONFIG_ADDR,
+				vl53l1x_default_config,
+				sizeof(vl53l1x_default_config));
+	if (ret)
+		return ret;
+
+	ret = regmap_read(data->regmap, VL53L1X_GPIO_HV_MUX__CTRL, &val);
+	if (ret)
+		return ret;
+	data->gpio_polarity = !!(val & VL53L1X_GPIO_HV_MUX_POLARITY);
+
+	/* Initial ranging cycle for VHV calibration */
+	ret = vl53l1x_start_ranging(data);
+	if (ret)
+		return ret;
+
+	do {
+		ret = vl53l1x_data_ready(data, &ready);
+		if (ret)
+			return ret;
+		if (ready)
+			break;
+		usleep_range(1000, 5000);
+	} while (--tries);
+
+	if (!tries)
+		return -ETIMEDOUT;
+
+	ret = vl53l1x_clear_irq(data);
+	if (ret)
+		return ret;
+
+	ret = vl53l1x_stop_ranging(data);
+	if (ret)
+		return ret;
+
+	ret = regmap_write(data->regmap,
+			   VL53L1X_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
+			   VL53L1X_VHV_LOOP_BOUND_TWO);
+	if (ret)
+		return ret;
+
+	return regmap_write(data->regmap, VL53L1X_VHV_CONFIG__INIT, 0x00);
+}
+
+static int vl53l1x_set_distance_mode(struct vl53l1x_data *data,
+				     enum vl53l1x_distance_mode mode)
+{
+	int ret;
+
+	switch (mode) {
+	case VL53L1X_SHORT:
+		ret = regmap_write(data->regmap,
+				   VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP,
+				   0x14);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH,
+				   0x38);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap, VL53L1X_SD_CONFIG__WOI_SD0,
+				   0x07);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap, VL53L1X_SD_CONFIG__WOI_SD1,
+				   0x05);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0, 6);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1, 6);
+		break;
+	case VL53L1X_LONG:
+		ret = regmap_write(data->regmap,
+				   VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP,
+				   0x0A);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH,
+				   0xB8);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap, VL53L1X_SD_CONFIG__WOI_SD0,
+				   0x0F);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap, VL53L1X_SD_CONFIG__WOI_SD1,
+				   0x0D);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0, 14);
+		if (ret)
+			return ret;
+		ret = regmap_write(data->regmap,
+				   VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1, 14);
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	if (ret)
+		return ret;
+
+	data->distance_mode = mode;
+	return 0;
+}
+
+static int vl53l1x_set_timing_budget(struct vl53l1x_data *data, u16 budget_ms)
+{
+	u16 timeout_a, timeout_b;
+	int ret;
+
+	switch (data->distance_mode) {
+	case VL53L1X_SHORT:
+		switch (budget_ms) {
+		case 15:
+			timeout_a = 0x001D;
+			timeout_b = 0x0027;
+			break;
+		case 20:
+			timeout_a = 0x0051;
+			timeout_b = 0x006E;
+			break;
+		case 33:
+			timeout_a = 0x00D6;
+			timeout_b = 0x006E;
+			break;
+		case 50:
+			timeout_a = 0x01AE;
+			timeout_b = 0x01E8;
+			break;
+		case 100:
+			timeout_a = 0x02E1;
+			timeout_b = 0x0388;
+			break;
+		case 200:
+			timeout_a = 0x03E1;
+			timeout_b = 0x0496;
+			break;
+		case 500:
+			timeout_a = 0x0591;
+			timeout_b = 0x05C1;
+			break;
+		default:
+			return -EINVAL;
+		}
+		break;
+	case VL53L1X_LONG:
+		switch (budget_ms) {
+		case 20:
+			timeout_a = 0x001E;
+			timeout_b = 0x0022;
+			break;
+		case 33:
+			timeout_a = 0x0060;
+			timeout_b = 0x006E;
+			break;
+		case 50:
+			timeout_a = 0x00AD;
+			timeout_b = 0x00C6;
+			break;
+		case 100:
+			timeout_a = 0x01CC;
+			timeout_b = 0x01EA;
+			break;
+		case 200:
+			timeout_a = 0x02D9;
+			timeout_b = 0x02F8;
+			break;
+		case 500:
+			timeout_a = 0x048F;
+			timeout_b = 0x04A4;
+			break;
+		default:
+			return -EINVAL;
+		}
+		break;
+	default:
+		return -EINVAL;
+	}
+
+	ret = vl53l1x_write_u16(data, VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_A,
+				timeout_a);
+	if (ret)
+		return ret;
+
+	return vl53l1x_write_u16(data, VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_B,
+				 timeout_b);
+}
+
+static int vl53l1x_set_inter_measurement_ms(struct vl53l1x_data *data,
+					    u16 period_ms)
+{
+	u16 clock_pll = data->osc_calibrate_val & VL53L1X_OSC_CALIBRATE_MASK;
+	u32 inter_meas;
+
+	inter_meas = (u32)clock_pll * (u32)period_ms;
+	inter_meas = (inter_meas * VL53L1X_OSC_CORRECTION_FACTOR) /
+		     VL53L1X_OSC_CORRECTION_DIVISOR;
+
+	return vl53l1x_write_u32(data, VL53L1X_SYSTEM__INTERMEASUREMENT_PERIOD,
+				 inter_meas);
+}
+
+static int vl53l1x_read_proximity(struct vl53l1x_data *data, int *val)
+{
+	unsigned long time_left;
+	unsigned int range_status;
+	u16 distance;
+	int tries = 200;
+	bool ready;
+	int ret;
+
+	if (data->client->irq) {
+		reinit_completion(&data->completion);
+
+		ret = vl53l1x_clear_irq(data);
+		if (ret)
+			return ret;
+
+		time_left = wait_for_completion_timeout(&data->completion, HZ);
+		if (time_left == 0)
+			return -ETIMEDOUT;
+	} else {
+		do {
+			ret = vl53l1x_data_ready(data, &ready);
+			if (ret)
+				return ret;
+
+			if (ready)
+				break;
+
+			usleep_range(1000, 5000);
+		} while (--tries);
+
+		if (!tries)
+			return -ETIMEDOUT;
+	}
+
+	ret = regmap_read(data->regmap, VL53L1X_RESULT__RANGE_STATUS,
+			  &range_status);
+	if (ret)
+		goto clear_irq;
+
+	range_status &= VL53L1X_RANGE_STATUS_MASK;
+
+	ret = vl53l1x_read_u16(data,
+			       VL53L1X_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
+				   &distance);
+	if (ret)
+		goto clear_irq;
+
+	dev_dbg(&data->client->dev, "distance=%u status=%u\n", distance,
+		range_status);
+
+	if (range_status != VL53L1X_RANGE_STATUS_VALID) {
+		ret = -EIO;
+		goto clear_irq;
+	}
+
+	*val = distance;
+
+clear_irq:
+	vl53l1x_clear_irq(data);
+	return ret;
+}
+
+static const struct iio_chan_spec vl53l1x_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 vl53l1x_read_raw(struct iio_dev *indio_dev,
+			    const struct iio_chan_spec *chan, int *val,
+			    int *val2, long mask)
+{
+	struct vl53l1x_data *data = iio_priv(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_DISTANCE)
+		return -EINVAL;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		if (!iio_device_claim_direct(indio_dev))
+			return -EBUSY;
+		ret = vl53l1x_read_proximity(data, val);
+		iio_device_release_direct(indio_dev);
+		if (ret)
+			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 int vl53l1x_validate_trigger(struct iio_dev *indio_dev,
+				    struct iio_trigger *trig)
+{
+	struct vl53l1x_data *data = iio_priv(indio_dev);
+
+	return data->trig == trig ? 0 : -EINVAL;
+}
+
+static const struct iio_info vl53l1x_info = {
+	.read_raw = vl53l1x_read_raw,
+	.validate_trigger = vl53l1x_validate_trigger,
+};
+
+static irqreturn_t vl53l1x_trigger_handler(int irq, void *priv)
+{
+	struct iio_poll_func *pf = priv;
+	struct iio_dev *indio_dev = pf->indio_dev;
+	struct vl53l1x_data *data = iio_priv(indio_dev);
+	struct {
+		u16 distance;
+		aligned_s64 timestamp;
+	} scan = {};
+	unsigned int range_status;
+	int ret;
+
+	ret = regmap_read(data->regmap, VL53L1X_RESULT__RANGE_STATUS,
+			  &range_status);
+	if (ret || (range_status & VL53L1X_RANGE_STATUS_MASK) !=
+			   VL53L1X_RANGE_STATUS_VALID)
+		goto done;
+
+	ret = vl53l1x_read_u16(data,
+			       VL53L1X_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
+				   &scan.distance);
+	if (ret)
+		goto done;
+
+	iio_push_to_buffers_with_timestamp(indio_dev, &scan,
+					   iio_get_time_ns(indio_dev));
+
+done:
+	iio_trigger_notify_done(indio_dev->trig);
+	vl53l1x_clear_irq(data);
+
+	return IRQ_HANDLED;
+}
+
+static irqreturn_t vl53l1x_threaded_irq(int irq, void *priv)
+{
+	struct iio_dev *indio_dev = priv;
+	struct vl53l1x_data *data = iio_priv(indio_dev);
+
+	if (iio_buffer_enabled(indio_dev))
+		iio_trigger_poll_nested(indio_dev->trig);
+	else
+		complete(&data->completion);
+
+	return IRQ_HANDLED;
+}
+
+static int vl53l1x_configure_irq(struct i2c_client *client,
+				 struct iio_dev *indio_dev)
+{
+	struct vl53l1x_data *data = iio_priv(indio_dev);
+	int irq_flags = irq_get_trigger_type(client->irq);
+	int ret;
+
+	if (!irq_flags)
+		irq_flags = IRQF_TRIGGER_FALLING;
+
+	ret = devm_request_threaded_irq(&client->dev, client->irq, NULL,
+					vl53l1x_threaded_irq,
+					irq_flags | IRQF_ONESHOT,
+					indio_dev->name, indio_dev);
+	if (ret) {
+		dev_err(&client->dev, "devm_request_irq error: %d\n", ret);
+		return ret;
+	}
+
+	ret = regmap_write(data->regmap, VL53L1X_SYSTEM__INTERRUPT_CONFIG_GPIO,
+			   VL53L1X_INT_NEW_SAMPLE_READY);
+	if (ret)
+		dev_err(&client->dev, "failed to configure IRQ: %d\n", ret);
+
+	return ret;
+}
+
+static int vl53l1x_buffer_postenable(struct iio_dev *indio_dev)
+{
+	struct vl53l1x_data *data = iio_priv(indio_dev);
+
+	return vl53l1x_start_ranging(data);
+}
+
+static int vl53l1x_buffer_postdisable(struct iio_dev *indio_dev)
+{
+	struct vl53l1x_data *data = iio_priv(indio_dev);
+	int ret;
+
+	ret = vl53l1x_stop_ranging(data);
+	if (ret)
+		return ret;
+
+	reinit_completion(&data->completion);
+	wait_for_completion_timeout(&data->completion, HZ / 10);
+
+	return vl53l1x_clear_irq(data);
+}
+
+static const struct iio_buffer_setup_ops vl53l1x_buffer_setup_ops = {
+	.postenable = &vl53l1x_buffer_postenable,
+	.postdisable = &vl53l1x_buffer_postdisable,
+};
+
+static const struct iio_trigger_ops vl53l1x_trigger_ops = {
+	.validate_device = iio_trigger_validate_own_device,
+};
+
+static void vl53l1x_power_off(void *_data)
+{
+	struct vl53l1x_data *data = _data;
+
+	vl53l1x_stop_ranging(data);
+	gpiod_set_value_cansleep(data->reset_gpio, 1);
+	regulator_disable(data->vdd_supply);
+}
+
+static int vl53l1x_power_on(struct vl53l1x_data *data)
+{
+	int ret;
+
+	ret = regulator_enable(data->vdd_supply);
+	if (ret)
+		return ret;
+
+	gpiod_set_value_cansleep(data->reset_gpio, 0);
+	usleep_range(3200, 5000);
+
+	return 0;
+}
+
+static int vl53l1x_probe(struct i2c_client *client)
+{
+	struct vl53l1x_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);
+	data->client = client;
+
+	if (!i2c_check_functionality(client->adapter,
+				     I2C_FUNC_SMBUS_READ_I2C_BLOCK |
+					     I2C_FUNC_SMBUS_BYTE_DATA))
+		return -EOPNOTSUPP;
+
+	data->regmap = devm_regmap_init_i2c(client, &vl53l1x_regmap_config);
+	if (IS_ERR(data->regmap))
+		return dev_err_probe(&client->dev, PTR_ERR(data->regmap),
+				     "regmap initialization failed\n");
+
+	data->vdd_supply = devm_regulator_get(&client->dev, "vdd");
+	if (IS_ERR(data->vdd_supply))
+		return dev_err_probe(&client->dev, PTR_ERR(data->vdd_supply),
+				     "Unable to get VDD regulator\n");
+
+	data->reset_gpio =
+		devm_gpiod_get_optional(&client->dev, "reset", GPIOD_OUT_HIGH);
+	if (IS_ERR(data->reset_gpio))
+		return dev_err_probe(&client->dev, PTR_ERR(data->reset_gpio),
+				     "Cannot get reset GPIO\n");
+
+	ret = vl53l1x_power_on(data);
+	if (ret)
+		return dev_err_probe(&client->dev, ret,
+				     "Failed to power on the chip\n");
+
+	ret = devm_add_action_or_reset(&client->dev, vl53l1x_power_off, data);
+	if (ret)
+		return ret;
+
+	ret = vl53l1x_chip_init(data);
+	if (ret)
+		return ret;
+
+	ret = vl53l1x_set_distance_mode(data, VL53L1X_LONG);
+	if (ret)
+		return ret;
+
+	ret = vl53l1x_set_timing_budget(data, 50);
+	if (ret)
+		return ret;
+
+	ret = vl53l1x_set_inter_measurement_ms(data, 50);
+	if (ret)
+		return ret;
+
+	ret = vl53l1x_start_ranging(data);
+	if (ret)
+		return ret;
+
+	indio_dev->name = "vl53l1x";
+	indio_dev->info = &vl53l1x_info;
+	indio_dev->channels = vl53l1x_channels;
+	indio_dev->num_channels = ARRAY_SIZE(vl53l1x_channels);
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	if (client->irq) {
+		init_completion(&data->completion);
+
+		data->trig = devm_iio_trigger_alloc(&client->dev, "%s-dev%d",
+						    indio_dev->name,
+						    iio_device_id(indio_dev));
+		if (!data->trig)
+			return -ENOMEM;
+
+		data->trig->ops = &vl53l1x_trigger_ops;
+		iio_trigger_set_drvdata(data->trig, indio_dev);
+		ret = devm_iio_trigger_register(&client->dev, data->trig);
+		if (ret)
+			return ret;
+
+		indio_dev->trig = iio_trigger_get(data->trig);
+
+		ret = vl53l1x_configure_irq(client, indio_dev);
+		if (ret)
+			return ret;
+
+		ret = devm_iio_triggered_buffer_setup(&client->dev,
+						      indio_dev, NULL,
+							  &vl53l1x_trigger_handler,
+							  &vl53l1x_buffer_setup_ops);
+		if (ret)
+			return ret;
+	}
+
+	return devm_iio_device_register(&client->dev, indio_dev);
+}
+
+static const struct i2c_device_id vl53l1x_id[] = { { "vl53l1x" }, { } };
+MODULE_DEVICE_TABLE(i2c, vl53l1x_id);
+
+static const struct of_device_id st_vl53l1x_dt_match[] = {
+	{ .compatible = "st,vl53l1x" },
+	{ }
+};
+MODULE_DEVICE_TABLE(of, st_vl53l1x_dt_match);
+
+static struct i2c_driver vl53l1x_driver = {
+	.driver = {
+		.name = "vl53l1x-i2c",
+		.of_match_table = st_vl53l1x_dt_match,
+	},
+	.probe = vl53l1x_probe,
+	.id_table = vl53l1x_id,
+};
+module_i2c_driver(vl53l1x_driver);
+
+MODULE_AUTHOR("Siratul Islam <email@sirat.me>");
+MODULE_DESCRIPTION("ST VL53L1X ToF ranging sensor driver");
+MODULE_LICENSE("Dual BSD/GPL");
-- 
2.53.0