From mboxrd@z Thu Jan 1 00:00:00 1970 Authentication-Results: smtp.subspace.kernel.org; arc=pass header.oldest-pass=0 smtp.remote-ip=100.103.45.18 ARC-Seal: i=2; d=subspace.kernel.org; s=arc20261015; a=rsa-sha256; cv=pass; t=1792451862; b=3Gbs4xkApL3BBMD5gXkhJAlbcumitQS/voDU4ug80blgFM3lzDp320HuxoDObB7DjlMf 4J621ckFrUwUU6wLjaYryq8Oxtsm2hhwmoET0ht+B3ZTdkUDOOLF3BcfYHvWTfJotoejV wQWXNh1iSU9Pb2j4pEnmSvTyNgseXWAdG0RjBczxE0G4LM9BkefDxung6m69/6auhY+IM adfNAbBpbzVhm1OA/e+tstVMON1G5edBd8QG5tg4+3h7qxNcIL34gBlOLAeX3iKYWxjUr gCmDH1hct3HMOTaGnbXHQy4nRgPEkcX9yNsyI/ryrUamzT48EsQ2/OUl4eiV0bBjMLA== ARC-Message-Signature: i=2; d=subspace.kernel.org; s=arc20261015; a=rsa-sha256; c=relaxed/relaxed; t=1792451862; h=Received:DKIM-Signature:Received:From:Date:Subject:MIME-Version: Content-Type:Message-Id:References:In-Reply-To:To:Cc:X-Mailer: X-Developer-Signature:X-Developer-Key:X-Endpoint-Received: X-Original-From:Reply-To:Content-Transfer-Encoding; bh=nGYsHJ/E0wkhw876+4C97FaBYPIRusstw7yltNE87Lg=; b=z0DOflgwQDyLBx4/87nDrtQNY3PInEtEQXi042hi2cJeLvxWeDAn7IJD1gDbd0qNGkck AmDNTCPORsDWQ75Mmr8wOqoioEhwEbQcBWtOGtlmB2coSvsW8KpmWNq9FS8x9s3bufaxo 1DD/AWKXUguv2b2eAKpHAA1Xtu0zsA4cwfTlDHdo+bnsLpvdg+5mJ6pa76rLgmKcVT6UR vc5f+lrJQQVtsxbUcECSvf8PaE9Lk14nCaBu0We21GvVsFD2zgDLsQrFO0d7pTBuJ8/te OWnut5j7zU0cEfMJZW8fDMT2/grvVzj0U9+hvCV7RqHstOOiaoe/igTK/KSNNEqHt9w== ARC-Authentication-Results: i=2; smtp.subspace.kernel.org; dkim=pass header.d=kernel.org header.i=@kernel.org header.a=rsa-sha256 header.s=k20260515 header.b=gyvh0dNl; arc=pass header.oldest-pass=0 smtp.remote-ip=100.103.45.18 Received: from smtp.kernel.org (quasi.space.kernel.org [100.103.45.18]) (using TLSv1.3 with cipher TLS_AES_256_GCM_SHA384 (256/256 bits) key-exchange X25519 server-signature ECDSA (prime256v1)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 13E9C606A319; Mon, 19 Oct 2026 23:17:42 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; dkim=pass (2048-bit key, unprotected) header.d=kernel.org header.i=@kernel.org header.a=rsa-sha256 header.s=k20260515 header.b=gyvh0dNl Authentication-Results: smtp.kernel.org; arc=none smtp.remote-ip=100.80.115.77 ARC-Seal: i=1; d=kernel.org; s=arc20260519; a=rsa-sha256; cv=none; t=1792451861; b=MEqvXmmW3kzlGedFxfCy6gD2/e8yqYghJaCv7zXmWwK+KUcKyly5iyDuuOVm5gvPHOo3 0jxM/rz2+5FgkY/0RaEY5PFwYp5wRNgeND7EZyxaPyDGikHNHA+C4qk/u7DSj4aK2Mfve ubIyj3q5yvKkxhA5htYTbdn1mmhO4aEufSwUJJ7pHhIH50yW6A3ScIlsulrS6pL1OwA+0 Uysfb1QfidJ5sJ5v2VBgyU3NxwSDOSfMuYYLA/rluGx0yRLSZebxMnZUR8I+oTnJddPgE fQkLq3ohHVESg7UELRL73Mgi6FJ/nIsY/gkCALUHUIShYy7FQHZlJAMByYCtkyfMT+g== ARC-Message-Signature: i=1; d=kernel.org; s=arc20260519; a=rsa-sha256; c=relaxed/relaxed; t=1792451861; h=DKIM-Signature:Received:From:Date:Subject:MIME-Version:Content-Type: Message-Id:References:In-Reply-To:To:Cc:X-Mailer: X-Developer-Signature:X-Developer-Key:X-Endpoint-Received: X-Original-From:Reply-To:Content-Transfer-Encoding; bh=nGYsHJ/E0wkhw876+4C97FaBYPIRusstw7yltNE87Lg=; b=TyueMyMVPn96BUbirXmMk3vRbIDc8LG4KLwbjiyIJaCRxhYuQkD+QUQNuzFgFTFw5AN/ 8iXgY1mZQ455g2CCNsdMGEhchX2//kw9T8Z6VbN8aOfAPDVdfcrqwLGNjb+iTCsRfqVCw VZifGXUjYivKMjEbJ0zXCx7BuiPimghd8yUKv27pnxJNuuCnPRr55k+cfh6PH1VnxBzAG f5yEFdhIMJYeH4XWr8ja1oobW+zE0krAypYcUATf9gBApgQGVXb+5wQluBlzKL6lM7DaW CsTkbmxHwjjFq3UHNKwttNXgKJto27gjVIvdvkBfs2OGbTKy58S/yhddOTJyrDBPuYw== ARC-Authentication-Results: i=1; smtp.kernel.org; arc=none smtp.remote-ip=100.80.115.77 Received: from lkml.kernel.org (nexus.subspace.kernel.org [100.80.115.77]) (using TLSv1.3 with cipher TLS_AES_256_GCM_SHA384 (256/256 bits) key-exchange X25519 server-signature ECDSA (prime256v1) server-digest SHA256) (No client certificate requested) by smtp.kernel.org (Postfix) with ESMTPS id 234521F000C4; Mon, 19 Oct 2026 23:17:41 +0000 (UTC) DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=kernel.org; s=k20260515; t=1792451861; bh=nGYsHJ/E0wkhw876+4C97FaBYPIRusstw7yltNE87Lg=; h=From:Date:Subject:References:In-Reply-To:To:Cc:Reply-To; b=gyvh0dNlHD8T0RaCRV2ky1DyEeFrFFF7lJ6Yeivk5TK71Cu6I87369cdEY6b7SE92 qv2WLoHcYopKn6/Qt1IxsSaVuCGl+taiyb4wB+1GaSWvhM2jt14JhRdMUtnAtDBg0h IL297yjslA9aV+cYFDeIbgUx1Rq34prZnBvbhYlLcRRZfRl4IiOhlc3eu0qiuyBRfj 9WHI9I2vG/eZlVmmIH4KutNjd6IOfe0SDjpqsR1l24btyo1PkZGCWuWj2uJahh5yGz cdXDyiTeUCnpbxQPHH51oCJokXqzcy5DD+pp37D5K+lUF39zfXAPyZzaMqMblwfKNb wainhCUDp1dZg== Received: from nexus.subspace.kernel.org (localhost [IPv6:::1]) by lkml.kernel.org (Postfix) with ESMTP id 8C45B406B3; Mon, 19 Oct 2026 23:17:40 +0000 (UTC) From: Vidhu Sarwal via B4 Relay Date: Tue, 20 Oct 2026 00:03:43 +0530 Subject: [PATCH 3/3] iio: proximity: Add Benewake TF-Luna LiDAR driver X-Mailing-List: devicetree@vger.kernel.org List-Id: List-Post: List-Help: List-Subscribe: List-Unsubscribe: List-Owner: Precedence: list MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Message-Id: <20261020-tf-luna-v1-3-53a88f93db24@gmail.com> References: <20261020-tf-luna-v1-0-53a88f93db24@gmail.com> In-Reply-To: <20261020-tf-luna-v1-0-53a88f93db24@gmail.com> To: Rob Herring , Krzysztof Kozlowski , Conor Dooley , Vidhu Sarwal , Jonathan Cameron , David Lechner , =?utf-8?q?Nuno_S=C3=A1?= , Andy Shevchenko Cc: devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, linux-iio@vger.kernel.org, Shuah Khan X-Mailer: b4 0.15.2 X-Developer-Signature: v=1; a=ed25519-sha256; t=1792434836; l=9879; i=vidhu.linux@gmail.com; s=20260713; h=from:subject:message-id; bh=t32cfyUn+YQw1TQQi8lqvN4Esa4fJTZ4RodV+iWaZdY=; b=G6xl6n60iiNIwYgY3QX3vnpapaRKtfCmL0AEEHeYRRYZz7nrxeT2IhGFszNdgAyT2GBYRsNbu /wGlrFpqrd5BfSx60pEx7HWGHOJKh5a9lpjllCJoPzKvD25kHg7FVtm X-Developer-Key: i=vidhu.linux@gmail.com; a=ed25519; pk=xDu3Cbesz76CQXwY8lteI74n3ELVIV7wCsuYAvcX1Q4= X-Endpoint-Received: by B4 Relay for vidhu.linux@gmail.com/20260713 with auth_id=869 X-Original-From: Vidhu Sarwal Reply-To: vidhu.linux@gmail.com Content-Transfer-Encoding: 7bit From: Vidhu Sarwal Add a driver for the Benewake TF-Luna, a single-point time-of-flight LiDAR distance sensor with a range of 0.2 m to 8 m, connected over I2C. The sensor is run in trigger mode. Each read starts one measurement and waits for the timestamp register to change before reading the result. In continuous mode a read can catch the sensor in the middle of updating its result registers unless it is synchronised to the data ready output, which this driver does not use yet. When the signal strength is too low the sensor reports a dummy distance of 0, so such readings, as well as overexposed ones, return -ENODATA instead of a distance. The datasheet is available at: https://en.benewake.com/uploadfiles/2025/04/20250430174501874.pdf Signed-off-by: Vidhu Sarwal --- MAINTAINERS | 1 + drivers/iio/proximity/Kconfig | 11 ++ drivers/iio/proximity/Makefile | 1 + drivers/iio/proximity/tf-luna.c | 254 ++++++++++++++++++++++++++++++++++++++++ 4 files changed, 267 insertions(+) diff --git a/MAINTAINERS b/MAINTAINERS index 24fa7cdf6a57..20e43a003bed 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -4667,6 +4667,7 @@ M: Vidhu Sarwal L: linux-iio@vger.kernel.org S: Maintained F: Documentation/devicetree/bindings/iio/proximity/benewake,tf-luna.yaml +F: drivers/iio/proximity/tf-luna.c BFQ I/O SCHEDULER M: Yu Kuai diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig index f3cec799df67..d16458ea4b0f 100644 --- a/drivers/iio/proximity/Kconfig +++ b/drivers/iio/proximity/Kconfig @@ -222,6 +222,17 @@ config SRF08 To compile this driver as a module, choose M here: the module will be called srf08. +config TF_LUNA + tristate "Benewake TF-Luna LiDAR distance sensor" + depends on I2C + select REGMAP_I2C + help + Say Y here to build a driver for the Benewake TF-Luna LiDAR + distance sensor connected over I2C. + + To compile this driver as a module, choose M here: the + module will be called tf-luna. + config VCNL3020 tristate "VCNL3020 proximity sensor" select REGMAP_I2C diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile index 8a65e42fbea0..43741115a921 100644 --- a/drivers/iio/proximity/Makefile +++ b/drivers/iio/proximity/Makefile @@ -21,6 +21,7 @@ obj-$(CONFIG_SX9324) += sx9324.o obj-$(CONFIG_SX9360) += sx9360.o obj-$(CONFIG_SX_COMMON) += sx_common.o obj-$(CONFIG_SX9500) += sx9500.o +obj-$(CONFIG_TF_LUNA) += tf-luna.o obj-$(CONFIG_VCNL3020) += vcnl3020.o obj-$(CONFIG_VCNL36829) += vcnl36829.o obj-$(CONFIG_VL53L0X_I2C) += vl53l0x-i2c.o diff --git a/drivers/iio/proximity/tf-luna.c b/drivers/iio/proximity/tf-luna.c new file mode 100644 index 000000000000..b2f6e664b614 --- /dev/null +++ b/drivers/iio/proximity/tf-luna.c @@ -0,0 +1,254 @@ +// SPDX-License-Identifier: GPL-2.0-only +/* + * Benewake TF-Luna LiDAR distance sensor + * + * Copyright (C) 2026 Vidhu Sarwal + * + * Datasheet: https://en.benewake.com/uploadfiles/2025/04/20250430174501874.pdf + * + * The I2C register map is in appendix III of the TF-Luna product manual + * (SJ-PM-TF-Luna A05). Default 7-bit I2C address is 0x10. + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include + +#define TF_LUNA_REG_DIST 0x00 +#define TF_LUNA_REG_TICK 0x06 +#define TF_LUNA_REG_VERSION 0x0A +#define TF_LUNA_REG_MODE 0x23 +#define TF_LUNA_REG_TRIG_ONE_SHOT 0x24 +#define TF_LUNA_REG_SIGNATURE 0x3C + +#define TF_LUNA_MODE_TRIGGER 0x01 +#define TF_LUNA_TRIG_ONE_SHOT 0x01 + +/* Below this the sensor reports a dummy distance of 0 */ +#define TF_LUNA_AMP_MIN 100 +#define TF_LUNA_AMP_OVEREXPOSED 0xFFFF + +/* A measurement takes 10-20 ms in trigger mode */ +#define TF_LUNA_POLL_US (2 * USEC_PER_MSEC) +#define TF_LUNA_TIMEOUT_US (100 * USEC_PER_MSEC) + +struct tf_luna_data { + struct regmap *regmap; + /* Serialises the trigger, poll and read of a single measurement */ + struct mutex lock; +}; + +static const struct regmap_config tf_luna_regmap_config = { + .reg_bits = 8, + .val_bits = 8, + .max_register = TF_LUNA_REG_SIGNATURE + 3, +}; + +static int tf_luna_read_tick(struct tf_luna_data *data, u16 *tick) +{ + __le16 val; + int ret; + + ret = regmap_bulk_read(data->regmap, TF_LUNA_REG_TICK, &val, sizeof(val)); + if (ret) + return ret; + + *tick = le16_to_cpu(val); + return 0; +} + +static int tf_luna_measure(struct tf_luna_data *data, int *dist) +{ + __le16 buf[2]; /* distance in cm, signal strength */ + u16 old_tick, tick, amp; + int ret, err; + + guard(mutex)(&data->lock); + + ret = tf_luna_read_tick(data, &old_tick); + if (ret) + return ret; + + ret = regmap_write(data->regmap, TF_LUNA_REG_TRIG_ONE_SHOT, + TF_LUNA_TRIG_ONE_SHOT); + if (ret) + return ret; + + /* The tick register is a timestamp, it changes with each measurement */ + ret = read_poll_timeout(tf_luna_read_tick, err, err || tick != old_tick, + TF_LUNA_POLL_US, TF_LUNA_TIMEOUT_US, true, + data, &tick); + if (ret) + return ret; + if (err) + return err; + + ret = regmap_bulk_read(data->regmap, TF_LUNA_REG_DIST, buf, sizeof(buf)); + if (ret) + return ret; + + amp = le16_to_cpu(buf[1]); + if (amp < TF_LUNA_AMP_MIN || amp == TF_LUNA_AMP_OVEREXPOSED) + return -ENODATA; + + *dist = le16_to_cpu(buf[0]); + return 0; +} + +static int tf_luna_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct tf_luna_data *data = iio_priv(indio_dev); + int ret; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = tf_luna_measure(data, val); + if (ret) + return ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + /* Distance is in cm */ + *val = 0; + *val2 = 10000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info tf_luna_info = { + .read_raw = tf_luna_read_raw, +}; + +static const struct iio_chan_spec tf_luna_channels[] = { + { + .type = IIO_DISTANCE, + .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, +}; + +static int tf_luna_probe(struct i2c_client *client) +{ + struct device *dev = &client->dev; + struct tf_luna_data *data; + struct iio_dev *indio_dev; + unsigned int mode; + u8 signature[4]; + u8 version[3]; + int ret; + + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + + ret = devm_mutex_init(dev, &data->lock); + if (ret) + return ret; + + data->regmap = devm_regmap_init_i2c(client, &tf_luna_regmap_config); + if (IS_ERR(data->regmap)) + return dev_err_probe(dev, PTR_ERR(data->regmap), + "Failed to initialize regmap\n"); + + ret = devm_regulator_get_enable(dev, "vcc"); + if (ret) + return dev_err_probe(dev, ret, "Failed to enable vcc regulator\n"); + + /* Boot time is not documented, about 350 ms was measured */ + fsleep(500 * USEC_PER_MSEC); + + ret = regmap_bulk_read(data->regmap, TF_LUNA_REG_SIGNATURE, signature, + sizeof(signature)); + if (ret) + return dev_err_probe(dev, ret, "Failed to read signature\n"); + + if (memcmp(signature, "LUNA", sizeof(signature))) + dev_info(dev, "Unknown signature %*ph, continuing\n", + (int)sizeof(signature), signature); + + ret = regmap_bulk_read(data->regmap, TF_LUNA_REG_VERSION, version, + sizeof(version)); + if (ret) + return ret; + + dev_dbg(dev, "Firmware version %u.%u.%u\n", + version[2], version[1], version[0]); + + /* + * In continuous mode a read can catch the sensor updating its result + * registers unless it is synchronised to the data ready output. Use + * trigger mode and start each measurement on demand instead. + */ + ret = regmap_write(data->regmap, TF_LUNA_REG_MODE, TF_LUNA_MODE_TRIGGER); + if (ret) + return ret; + + /* + * The sensor silently drops writes it is not ready for, so check that + * the mode was set. A write takes up to 100 ms to read back. + */ + fsleep(100 * USEC_PER_MSEC); + + ret = regmap_read(data->regmap, TF_LUNA_REG_MODE, &mode); + if (ret) + return ret; + + if (mode != TF_LUNA_MODE_TRIGGER) + return dev_err_probe(dev, -EIO, "Failed to set trigger mode\n"); + + indio_dev->name = "tf-luna"; + indio_dev->info = &tf_luna_info; + indio_dev->channels = tf_luna_channels; + indio_dev->num_channels = ARRAY_SIZE(tf_luna_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + return devm_iio_device_register(dev, indio_dev); +} + +static const struct i2c_device_id tf_luna_id[] = { + { .name = "tf-luna" }, + { } +}; +MODULE_DEVICE_TABLE(i2c, tf_luna_id); + +static const struct of_device_id tf_luna_of_match[] = { + { .compatible = "benewake,tf-luna" }, + { } +}; +MODULE_DEVICE_TABLE(of, tf_luna_of_match); + +static struct i2c_driver tf_luna_driver = { + .driver = { + .name = "tf-luna", + .of_match_table = tf_luna_of_match, + }, + .probe = tf_luna_probe, + .id_table = tf_luna_id, +}; +module_i2c_driver(tf_luna_driver); + +MODULE_AUTHOR("Vidhu Sarwal "); +MODULE_DESCRIPTION("Benewake TF-Luna LiDAR distance sensor driver"); +MODULE_LICENSE("GPL"); -- 2.53.0