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Signed-off-by: Siratul Islam --- MAINTAINERS | 1 + drivers/iio/proximity/Kconfig | 14 + drivers/iio/proximity/Makefile | 1 + drivers/iio/proximity/vl53l1x-i2c.c | 871 ++++++++++++++++++++++++++++ 4 files changed, 887 insertions(+) create mode 100644 drivers/iio/proximity/vl53l1x-i2c.c diff --git a/MAINTAINERS b/MAINTAINERS index 01c8e6bac322..cb8ee607fda1 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -25098,6 +25098,7 @@ M: Siratul Islam L: linux-iio@vger.kernel.org S: Maintained F: Documentation/devicetree/bindings/iio/proximity/st,vl53l1x.yaml +F: drivers/iio/proximity/vl53l1x-i2c.c STABLE BRANCH M: Greg Kroah-Hartman 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..3ebcaf37f502 --- /dev/null +++ b/drivers/iio/proximity/vl53l1x-i2c.c @@ -0,0 +1,871 @@ +// 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 + * + * Datasheet available at + * + * + * 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 +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include + +#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 *xshut_gpio; + 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, +}; + +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 = 1000; + bool ready; + int ret; + + if (!data->xshut_gpio) { + ret = regmap_write(data->regmap, VL53L1X_SOFT_RESET, 0x00); + if (ret) + return ret; + fsleep(100); /* conservative reset pulse, no spec */ + + ret = regmap_write(data->regmap, VL53L1X_SOFT_RESET, 0x01); + if (ret) + return ret; + fsleep(1000); /* conservative boot wait, no spec */ + } + + 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_info(dev, "unknown model id: 0x%04x, continuing\n", model_id); + + 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; + /* 1ms poll, 1s timeout covers max timing budgets (per ST ULD) */ + fsleep(1000); + } 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 const struct reg_sequence vl53l1x_mode_short[] = { + { VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14 }, + { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A, 0x07 }, + { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B, 0x05 }, + { VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH, 0x38 }, + { VL53L1X_SD_CONFIG__WOI_SD0, 0x07 }, + { VL53L1X_SD_CONFIG__WOI_SD1, 0x05 }, + { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0, 6 }, + { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1, 6 }, +}; + +static const struct reg_sequence vl53l1x_mode_long[] = { + { VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A }, + { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F }, + { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D }, + { VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8 }, + { VL53L1X_SD_CONFIG__WOI_SD0, 0x0F }, + { VL53L1X_SD_CONFIG__WOI_SD1, 0x0D }, + { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0, 14 }, + { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1, 14 }, +}; + +static const struct { + const struct reg_sequence *regs; + size_t num_regs; +} vl53l1x_mode_configs[] = { + [VL53L1X_SHORT] = { vl53l1x_mode_short, ARRAY_SIZE(vl53l1x_mode_short) }, + [VL53L1X_LONG] = { vl53l1x_mode_long, ARRAY_SIZE(vl53l1x_mode_long) }, +}; + +static int vl53l1x_set_distance_mode(struct vl53l1x_data *data, + enum vl53l1x_distance_mode mode) +{ + int ret; + + if (mode >= ARRAY_SIZE(vl53l1x_mode_configs)) + return -EINVAL; + + ret = regmap_multi_reg_write(data->regmap, + vl53l1x_mode_configs[mode].regs, + vl53l1x_mode_configs[mode].num_regs); + if (ret) + return ret; + + data->distance_mode = mode; + return 0; +} + +/* + * The timing budget controls how long the sensor spends collecting + * a single range measurement. Pre-computed TIMEOUT_MACROP register + * values from ST's VL53L1X ULD. + */ +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 = 1000; + 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; + /* 1ms poll, 1s timeout covers max timing budgets (per ST ULD) */ + fsleep(1000); + } while (--tries); + + if (!tries) + return -ETIMEDOUT; + } + + ret = regmap_read(data->regmap, VL53L1X_RESULT__RANGE_STATUS, + &range_status); + if (ret) + goto clear_irq; + + if (FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) != VL53L1X_RANGE_STATUS_VALID) { + ret = -EIO; + goto clear_irq; + } + + 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\n", distance); + + *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 const struct iio_info vl53l1x_info = { + .read_raw = vl53l1x_read_raw, + .validate_trigger = iio_validate_own_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 || FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) != + 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_irq_handler(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(indio_dev->trig); + else + complete(&data->completion); + + return IRQ_HANDLED; +} + +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_predisable(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, + .predisable = &vl53l1x_buffer_predisable, +}; + +static const struct iio_trigger_ops vl53l1x_trigger_ops = { + .validate_device = iio_trigger_validate_own_device, +}; + +static void vl53l1x_stop_ranging_action(void *_data) +{ + vl53l1x_stop_ranging(_data); +} + +static void vl53l1x_power_off(void *_data) +{ + struct vl53l1x_data *data = _data; + + gpiod_set_value_cansleep(data->xshut_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->xshut_gpio, 0); + fsleep(1200); /* 1.2 ms max boot duration per VL53L1X datasheet */ + + return 0; +} + +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; + + ret = devm_request_irq(&client->dev, client->irq, vl53l1x_irq_handler, + irq_flags | IRQF_NO_THREAD, + indio_dev->name, indio_dev); + if (ret) + return dev_err_probe(&client->dev, ret, + "failed to request IRQ\n"); + + ret = regmap_write(data->regmap, VL53L1X_SYSTEM__INTERRUPT_CONFIG_GPIO, + VL53L1X_INT_NEW_SAMPLE_READY); + if (ret) + return dev_err_probe(&client->dev, ret, + "failed to configure IRQ\n"); + + 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->xshut_gpio = + devm_gpiod_get_optional(&client->dev, "xshut", GPIOD_OUT_HIGH); + if (IS_ERR(data->xshut_gpio)) + return dev_err_probe(&client->dev, PTR_ERR(data->xshut_gpio), + "Cannot get xshut 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; + + ret = devm_add_action_or_reset(&client->dev, + vl53l1x_stop_ranging_action, 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) { + struct iio_trigger *trig; + + init_completion(&data->completion); + + trig = devm_iio_trigger_alloc(&client->dev, "%s-dev%d", + indio_dev->name, + iio_device_id(indio_dev)); + if (!trig) + return -ENOMEM; + + trig->ops = &vl53l1x_trigger_ops; + iio_trigger_set_drvdata(trig, indio_dev); + ret = devm_iio_trigger_register(&client->dev, trig); + if (ret) + return ret; + + indio_dev->trig = iio_trigger_get(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 "); +MODULE_DESCRIPTION("ST VL53L1X ToF ranging sensor driver"); +MODULE_LICENSE("Dual BSD/GPL"); -- 2.53.0