* [PATCH v5 0/2] iio: proximity: add PulsedLight LIDAR sensor support @ 2015-08-12 6:01 Matt Ranostay 2015-08-12 6:01 ` [PATCH 1/2] devicetree: add PulsedLight vendor + device docs Matt Ranostay 2015-08-12 6:01 ` [PATCH 2/2] iio: proximity: add support for PulsedLight LIDAR Matt Ranostay 0 siblings, 2 replies; 5+ messages in thread From: Matt Ranostay @ 2015-08-12 6:01 UTC (permalink / raw) To: jic23; +Cc: linux-iio, devicetree, Matt Ranostay This patchset adds support for this range finding LIDAR module, and reports distance back in meters to centimeter resolution with +/- 2.5 CM of accuracy at ~40 meters. Changes from v4: * moved comment to read command function * remove un-needed buffer indexing * renamed device and driver name to pulsedlight-lidar-lite-v2 to resolve confusion that v1 will likely not work with this driver Matt Ranostay (2): devicetree: add PulsedLight vendor + device docs iio: proximity: add support for PulsedLight LIDAR .../devicetree/bindings/i2c/trivial-devices.txt | 1 + .../devicetree/bindings/vendor-prefixes.txt | 1 + drivers/iio/proximity/Kconfig | 12 + drivers/iio/proximity/Makefile | 1 + drivers/iio/proximity/pulsedlight-lidar-lite-v2.c | 292 +++++++++++++++++++++ 5 files changed, 307 insertions(+) create mode 100644 drivers/iio/proximity/pulsedlight-lidar-lite-v2.c -- 1.9.1 ^ permalink raw reply [flat|nested] 5+ messages in thread
* [PATCH 1/2] devicetree: add PulsedLight vendor + device docs 2015-08-12 6:01 [PATCH v5 0/2] iio: proximity: add PulsedLight LIDAR sensor support Matt Ranostay @ 2015-08-12 6:01 ` Matt Ranostay 2015-08-12 6:01 ` [PATCH 2/2] iio: proximity: add support for PulsedLight LIDAR Matt Ranostay 1 sibling, 0 replies; 5+ messages in thread From: Matt Ranostay @ 2015-08-12 6:01 UTC (permalink / raw) To: jic23; +Cc: linux-iio, devicetree, Matt Ranostay Add pulsedlight vendor to vendor-prefixes.txt, and LIDAR device documentation to trivial-devices.txt Signed-off-by: Matt Ranostay <mranostay@gmail.com> --- Documentation/devicetree/bindings/i2c/trivial-devices.txt | 1 + Documentation/devicetree/bindings/vendor-prefixes.txt | 1 + 2 files changed, 2 insertions(+) diff --git a/Documentation/devicetree/bindings/i2c/trivial-devices.txt b/Documentation/devicetree/bindings/i2c/trivial-devices.txt index d77d412..cecd315 100644 --- a/Documentation/devicetree/bindings/i2c/trivial-devices.txt +++ b/Documentation/devicetree/bindings/i2c/trivial-devices.txt @@ -80,6 +80,7 @@ oki,ml86v7667 OKI ML86V7667 video decoder ovti,ov5642 OV5642: Color CMOS QSXGA (5-megapixel) Image Sensor with OmniBSI and Embedded TrueFocus pericom,pt7c4338 Real-time Clock Module plx,pex8648 48-Lane, 12-Port PCI Express Gen 2 (5.0 GT/s) Switch +pulsedlight,lidar-lite-v2 Pulsedlight LIDAR range-finding sensor ramtron,24c64 i2c serial eeprom (24cxx) ricoh,r2025sd I2C bus SERIAL INTERFACE REAL-TIME CLOCK IC ricoh,r2221tl I2C bus SERIAL INTERFACE REAL-TIME CLOCK IC diff --git a/Documentation/devicetree/bindings/vendor-prefixes.txt b/Documentation/devicetree/bindings/vendor-prefixes.txt index 6284568..0f318c3 100644 --- a/Documentation/devicetree/bindings/vendor-prefixes.txt +++ b/Documentation/devicetree/bindings/vendor-prefixes.txt @@ -164,6 +164,7 @@ phytec PHYTEC Messtechnik GmbH picochip Picochip Ltd plathome Plat'Home Co., Ltd. pixcir PIXCIR MICROELECTRONICS Co., Ltd +pulsedlight PulsedLight, Inc powervr PowerVR (deprecated, use img) qca Qualcomm Atheros, Inc. qcom Qualcomm Technologies, Inc -- 1.9.1 ^ permalink raw reply related [flat|nested] 5+ messages in thread
* [PATCH 2/2] iio: proximity: add support for PulsedLight LIDAR 2015-08-12 6:01 [PATCH v5 0/2] iio: proximity: add PulsedLight LIDAR sensor support Matt Ranostay 2015-08-12 6:01 ` [PATCH 1/2] devicetree: add PulsedLight vendor + device docs Matt Ranostay @ 2015-08-12 6:01 ` Matt Ranostay 2015-08-16 8:24 ` Jonathan Cameron 1 sibling, 1 reply; 5+ messages in thread From: Matt Ranostay @ 2015-08-12 6:01 UTC (permalink / raw) To: jic23; +Cc: linux-iio, devicetree, Matt Ranostay Add support for the PulsedLight LIDAR rangefinder sensor which allows high speed (over 300Hz) distance measurements using Barker Coding within 40 meter range. Support only tested on the "blue label" rev 2, but may work using low sample frequencies on the original version. Signed-off-by: Matt Ranostay <mranostay@gmail.com> --- drivers/iio/proximity/Kconfig | 12 + drivers/iio/proximity/Makefile | 1 + drivers/iio/proximity/pulsedlight-lidar-lite-v2.c | 292 ++++++++++++++++++++++ 3 files changed, 305 insertions(+) create mode 100644 drivers/iio/proximity/pulsedlight-lidar-lite-v2.c diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig index 41a8d8f..e64fc5b 100644 --- a/drivers/iio/proximity/Kconfig +++ b/drivers/iio/proximity/Kconfig @@ -20,6 +20,18 @@ endmenu menu "Proximity sensors" +config LIDAR + tristate "PulsedLight LIDAR sensor" + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + depends on I2C + help + Say Y to build a driver for PulsedLight LIDAR range finding + sensor. + + To compile this driver as a module, choose M here: the + module will be called lidar. + config SX9500 tristate "SX9500 Semtech proximity sensor" select IIO_BUFFER diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile index 9818dc5..081ae33 100644 --- a/drivers/iio/proximity/Makefile +++ b/drivers/iio/proximity/Makefile @@ -4,4 +4,5 @@ # When adding new entries keep the list in alphabetical order obj-$(CONFIG_AS3935) += as3935.o +obj-$(CONFIG_LIDAR) += pulsedlight-lidar-lite-v2.o obj-$(CONFIG_SX9500) += sx9500.o diff --git a/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c new file mode 100644 index 0000000..ff0681b --- /dev/null +++ b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c @@ -0,0 +1,292 @@ +/* + * pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor + * + * Copyright (C) 2015 Matt Ranostay <mranostay@gmail.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * TODO: runtime pm, interrupt mode, and signal strength reporting + * + */ + +#include <linux/err.h> +#include <linux/init.h> +#include <linux/i2c.h> +#include <linux/delay.h> +#include <linux/mutex.h> +#include <linux/module.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> +#include <linux/iio/buffer.h> +#include <linux/iio/trigger.h> +#include <linux/iio/triggered_buffer.h> +#include <linux/iio/trigger_consumer.h> + +#define LIDAR_REG_CONTROL 0x00 +#define LIDAR_REG_CONTROL_ACQUIRE BIT(2) + +#define LIDAR_REG_STATUS 0x01 +#define LIDAR_REG_STATUS_INVALID BIT(3) +#define LIDAR_REG_STATUS_READY BIT(0) + +#define LIDAR_REG_DATA_HBYTE 0x0f +#define LIDAR_REG_DATA_LBYTE 0x10 + +#define LIDAR_DRV_NAME "lidar" + +struct lidar_data { + struct mutex lock; + struct iio_dev *indio_dev; + struct i2c_client *client; + + u16 buffer[8]; /* 2 byte distance + 8 byte timestamp */ +}; + +static const struct iio_chan_spec lidar_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 lidar_read_byte(struct lidar_data *data, int reg) +{ + struct i2c_client *client = data->client; + int ret; + + /* + * Device needs a STOP condition between address write, and data read + * so in turn i2c_smbus_read_byte_data cannot be used + */ + + ret = i2c_smbus_write_byte(client, reg); + if (ret < 0) { + dev_err(&client->dev, "cannot write addr value"); + return ret; + } + + ret = i2c_smbus_read_byte(client); + if (ret < 0) + dev_err(&client->dev, "cannot read data value"); + + return ret; +} + +static inline int lidar_write_control(struct lidar_data *data, int val) +{ + return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val); +} + +static int lidar_read_measurement(struct lidar_data *data, u16 *reg) +{ + int ret; + int val; + + ret = lidar_read_byte(data, LIDAR_REG_DATA_HBYTE); + if (ret < 0) + return ret; + val = ret << 8; + + ret = lidar_read_byte(data, LIDAR_REG_DATA_LBYTE); + if (ret < 0) + return ret; + + val |= ret; + *reg = val; + + return 0; +} + +static int lidar_get_measurement(struct lidar_data *data, u16 *reg) +{ + struct i2c_client *client = data->client; + int tries = 10; + int ret; + + /* start sample */ + ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE); + if (ret < 0) { + dev_err(&client->dev, "cannot send start measurement command"); + return ret; + } + + while (tries--) { + usleep_range(1000, 2000); + + ret = lidar_read_byte(data, LIDAR_REG_STATUS); + if (ret < 0) + break; + + /* return 0 since laser is likely pointed out of range */ + if (ret & LIDAR_REG_STATUS_INVALID) { + *reg = 0; + ret = 0; + break; + } + + /* sample ready to read */ + if (!(ret & LIDAR_REG_STATUS_READY)) { + ret = lidar_read_measurement(data, reg); + break; + } + ret = -EIO; + } + + return ret; +} + +static int lidar_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *chan, + int *val, int *val2, long mask) +{ + struct lidar_data *data = iio_priv(indio_dev); + int ret = -EINVAL; + + mutex_lock(&data->lock); + + if (iio_buffer_enabled(indio_dev) && mask == IIO_CHAN_INFO_RAW) { + ret = -EBUSY; + goto error_busy; + } + + switch (mask) { + case IIO_CHAN_INFO_RAW: { + u16 reg; + + ret = lidar_get_measurement(data, ®); + if (!ret) { + *val = reg; + ret = IIO_VAL_INT; + } + break; + } + case IIO_CHAN_INFO_SCALE: + *val = 0; + *val2 = 10000; + ret = IIO_VAL_INT_PLUS_MICRO; + break; + } + +error_busy: + mutex_unlock(&data->lock); + + return ret; +} + +static irqreturn_t lidar_trigger_handler(int irq, void *private) +{ + struct iio_poll_func *pf = private; + struct iio_dev *indio_dev = pf->indio_dev; + struct lidar_data *data = iio_priv(indio_dev); + int ret; + + ret = lidar_get_measurement(data, data->buffer); + if (!ret) { + iio_push_to_buffers_with_timestamp(indio_dev, data->buffer, + iio_get_time_ns()); + } else { + dev_err(&data->client->dev, "cannot read LIDAR measurement"); + } + + iio_trigger_notify_done(indio_dev->trig); + + return IRQ_HANDLED; +} + +static const struct iio_info lidar_info = { + .driver_module = THIS_MODULE, + .read_raw = lidar_read_raw, +}; + +static int lidar_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct lidar_data *data; + struct iio_dev *indio_dev; + int ret; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + indio_dev->info = &lidar_info; + indio_dev->name = LIDAR_DRV_NAME; + indio_dev->channels = lidar_channels; + indio_dev->num_channels = ARRAY_SIZE(lidar_channels); + indio_dev->modes = INDIO_DIRECT_MODE; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + + data->client = client; + data->indio_dev = indio_dev; + mutex_init(&data->lock); + + ret = iio_triggered_buffer_setup(indio_dev, NULL, + lidar_trigger_handler, NULL); + if (ret) + return ret; + + ret = iio_device_register(indio_dev); + if (ret) + goto error_unreg_buffer; + + return 0; + +error_unreg_buffer: + iio_triggered_buffer_cleanup(indio_dev); + + return ret; +} + +static int lidar_remove(struct i2c_client *client) +{ + struct iio_dev *indio_dev = i2c_get_clientdata(client); + + iio_device_unregister(indio_dev); + iio_triggered_buffer_cleanup(indio_dev); + + return 0; +} + +static const struct i2c_device_id lidar_id[] = { + {"lidar", 0}, + { }, +}; +MODULE_DEVICE_TABLE(i2c, lidar_id); + +static const struct of_device_id lidar_dt_ids[] = { + { .compatible = "pulsedlight,lidar-lite-v2" }, + { } +}; + +static struct i2c_driver lidar_driver = { + .driver = { + .name = LIDAR_DRV_NAME, + .of_match_table = of_match_ptr(lidar_dt_ids), + }, + .probe = lidar_probe, + .remove = lidar_remove, + .id_table = lidar_id, +}; +module_i2c_driver(lidar_driver); + +MODULE_AUTHOR("Matt Ranostay <mranostay@gmail.com>"); +MODULE_DESCRIPTION("PulsedLight LIDAR sensor"); +MODULE_LICENSE("GPL"); -- 1.9.1 ^ permalink raw reply related [flat|nested] 5+ messages in thread
* Re: [PATCH 2/2] iio: proximity: add support for PulsedLight LIDAR 2015-08-12 6:01 ` [PATCH 2/2] iio: proximity: add support for PulsedLight LIDAR Matt Ranostay @ 2015-08-16 8:24 ` Jonathan Cameron 2015-08-18 2:33 ` Matt Ranostay 0 siblings, 1 reply; 5+ messages in thread From: Jonathan Cameron @ 2015-08-16 8:24 UTC (permalink / raw) To: Matt Ranostay; +Cc: linux-iio, devicetree On 12/08/15 07:01, Matt Ranostay wrote: > Add support for the PulsedLight LIDAR rangefinder sensor which allows > high speed (over 300Hz) distance measurements using Barker Coding within > 40 meter range. > > Support only tested on the "blue label" rev 2, but may work using low > sample frequencies on the original version. > > Signed-off-by: Matt Ranostay <mranostay@gmail.com> You missed a few cases of the name lidar being used for device matching. Also, just noticed you are holding a local lock only when checking if bufferred capture is enabled. You need to hold the indio_dev->mlock to avoid racing with a buffer enable. Mostly there now though. Jonathan > --- > drivers/iio/proximity/Kconfig | 12 + > drivers/iio/proximity/Makefile | 1 + > drivers/iio/proximity/pulsedlight-lidar-lite-v2.c | 292 ++++++++++++++++++++++ > 3 files changed, 305 insertions(+) > create mode 100644 drivers/iio/proximity/pulsedlight-lidar-lite-v2.c > > diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig > index 41a8d8f..e64fc5b 100644 > --- a/drivers/iio/proximity/Kconfig > +++ b/drivers/iio/proximity/Kconfig > @@ -20,6 +20,18 @@ endmenu > > menu "Proximity sensors" > > +config LIDAR The config symbol needs more detail as well as it's not a unique part number. > + tristate "PulsedLight LIDAR sensor" > + select IIO_BUFFER > + select IIO_TRIGGERED_BUFFER > + depends on I2C > + help > + Say Y to build a driver for PulsedLight LIDAR range finding > + sensor. > + > + To compile this driver as a module, choose M here: the > + module will be called lidar. Not any more it won't. > + > config SX9500 > tristate "SX9500 Semtech proximity sensor" > select IIO_BUFFER > diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile > index 9818dc5..081ae33 100644 > --- a/drivers/iio/proximity/Makefile > +++ b/drivers/iio/proximity/Makefile > @@ -4,4 +4,5 @@ > > # When adding new entries keep the list in alphabetical order > obj-$(CONFIG_AS3935) += as3935.o > +obj-$(CONFIG_LIDAR) += pulsedlight-lidar-lite-v2.o > obj-$(CONFIG_SX9500) += sx9500.o > diff --git a/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c > new file mode 100644 > index 0000000..ff0681b > --- /dev/null > +++ b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c > @@ -0,0 +1,292 @@ > +/* > + * pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor > + * > + * Copyright (C) 2015 Matt Ranostay <mranostay@gmail.com> > + * > + * This program is free software; you can redistribute it and/or modify > + * it under the terms of the GNU General Public License as published by > + * the Free Software Foundation; either version 2 of the License, or > + * (at your option) any later version. > + * > + * This program is distributed in the hope that it will be useful, > + * but WITHOUT ANY WARRANTY; without even the implied warranty of > + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the > + * GNU General Public License for more details. > + * > + * TODO: runtime pm, interrupt mode, and signal strength reporting > + * No blank line here. > + */ > + > +#include <linux/err.h> > +#include <linux/init.h> > +#include <linux/i2c.h> > +#include <linux/delay.h> > +#include <linux/mutex.h> > +#include <linux/module.h> > +#include <linux/iio/iio.h> > +#include <linux/iio/sysfs.h> > +#include <linux/iio/buffer.h> > +#include <linux/iio/trigger.h> > +#include <linux/iio/triggered_buffer.h> > +#include <linux/iio/trigger_consumer.h> > + > +#define LIDAR_REG_CONTROL 0x00 > +#define LIDAR_REG_CONTROL_ACQUIRE BIT(2) > + > +#define LIDAR_REG_STATUS 0x01 > +#define LIDAR_REG_STATUS_INVALID BIT(3) > +#define LIDAR_REG_STATUS_READY BIT(0) > + > +#define LIDAR_REG_DATA_HBYTE 0x0f > +#define LIDAR_REG_DATA_LBYTE 0x10 > + > +#define LIDAR_DRV_NAME "lidar" > + > +struct lidar_data { > + struct mutex lock; > + struct iio_dev *indio_dev; > + struct i2c_client *client; > + > + u16 buffer[8]; /* 2 byte distance + 8 byte timestamp */ > +}; > + > +static const struct iio_chan_spec lidar_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 lidar_read_byte(struct lidar_data *data, int reg) > +{ > + struct i2c_client *client = data->client; > + int ret; > + > + /* > + * Device needs a STOP condition between address write, and data read > + * so in turn i2c_smbus_read_byte_data cannot be used > + */ > + > + ret = i2c_smbus_write_byte(client, reg); > + if (ret < 0) { > + dev_err(&client->dev, "cannot write addr value"); > + return ret; > + } > + > + ret = i2c_smbus_read_byte(client); > + if (ret < 0) > + dev_err(&client->dev, "cannot read data value"); > + > + return ret; > +} > + > +static inline int lidar_write_control(struct lidar_data *data, int val) > +{ > + return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val); > +} > + > +static int lidar_read_measurement(struct lidar_data *data, u16 *reg) > +{ > + int ret; > + int val; > + > + ret = lidar_read_byte(data, LIDAR_REG_DATA_HBYTE); > + if (ret < 0) > + return ret; > + val = ret << 8; > + > + ret = lidar_read_byte(data, LIDAR_REG_DATA_LBYTE); > + if (ret < 0) > + return ret; > + > + val |= ret; > + *reg = val; > + > + return 0; > +} > + > +static int lidar_get_measurement(struct lidar_data *data, u16 *reg) > +{ > + struct i2c_client *client = data->client; > + int tries = 10; > + int ret; > + > + /* start sample */ > + ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE); > + if (ret < 0) { > + dev_err(&client->dev, "cannot send start measurement command"); > + return ret; > + } > + > + while (tries--) { > + usleep_range(1000, 2000); > + > + ret = lidar_read_byte(data, LIDAR_REG_STATUS); > + if (ret < 0) > + break; > + > + /* return 0 since laser is likely pointed out of range */ > + if (ret & LIDAR_REG_STATUS_INVALID) { > + *reg = 0; > + ret = 0; > + break; > + } > + > + /* sample ready to read */ > + if (!(ret & LIDAR_REG_STATUS_READY)) { > + ret = lidar_read_measurement(data, reg); > + break; > + } > + ret = -EIO; > + } > + > + return ret; > +} > + > +static int lidar_read_raw(struct iio_dev *indio_dev, > + struct iio_chan_spec const *chan, > + int *val, int *val2, long mask) > +{ > + struct lidar_data *data = iio_priv(indio_dev); > + int ret = -EINVAL; > + > + mutex_lock(&data->lock); > + This particular check needs to hold the indio_dev->mlock as that is the one that protects core state changes (enabling and disabling the buffer). You want to hang on to that lock until the read is done. > + if (iio_buffer_enabled(indio_dev) && mask == IIO_CHAN_INFO_RAW) { > + ret = -EBUSY; > + goto error_busy; > + } > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: { > + u16 reg; > + > + ret = lidar_get_measurement(data, ®); > + if (!ret) { > + *val = reg; > + ret = IIO_VAL_INT; > + } > + break; > + } > + case IIO_CHAN_INFO_SCALE: > + *val = 0; > + *val2 = 10000; > + ret = IIO_VAL_INT_PLUS_MICRO; > + break; > + } > + > +error_busy: > + mutex_unlock(&data->lock); > + > + return ret; > +} > + > +static irqreturn_t lidar_trigger_handler(int irq, void *private) > +{ > + struct iio_poll_func *pf = private; > + struct iio_dev *indio_dev = pf->indio_dev; > + struct lidar_data *data = iio_priv(indio_dev); > + int ret; > + > + ret = lidar_get_measurement(data, data->buffer); > + if (!ret) { > + iio_push_to_buffers_with_timestamp(indio_dev, data->buffer, > + iio_get_time_ns()); > + } else { > + dev_err(&data->client->dev, "cannot read LIDAR measurement"); > + } > + > + iio_trigger_notify_done(indio_dev->trig); > + > + return IRQ_HANDLED; > +} > + > +static const struct iio_info lidar_info = { > + .driver_module = THIS_MODULE, > + .read_raw = lidar_read_raw, > +}; > + > +static int lidar_probe(struct i2c_client *client, > + const struct i2c_device_id *id) > +{ > + struct lidar_data *data; > + struct iio_dev *indio_dev; > + int ret; > + > + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); > + if (!indio_dev) > + return -ENOMEM; > + > + indio_dev->info = &lidar_info; > + indio_dev->name = LIDAR_DRV_NAME; > + indio_dev->channels = lidar_channels; > + indio_dev->num_channels = ARRAY_SIZE(lidar_channels); > + indio_dev->modes = INDIO_DIRECT_MODE; > + > + data = iio_priv(indio_dev); > + i2c_set_clientdata(client, indio_dev); > + > + data->client = client; > + data->indio_dev = indio_dev; > + mutex_init(&data->lock); > + > + ret = iio_triggered_buffer_setup(indio_dev, NULL, > + lidar_trigger_handler, NULL); > + if (ret) > + return ret; > + > + ret = iio_device_register(indio_dev); > + if (ret) > + goto error_unreg_buffer; > + > + return 0; > + > +error_unreg_buffer: > + iio_triggered_buffer_cleanup(indio_dev); > + > + return ret; > +} > + > +static int lidar_remove(struct i2c_client *client) > +{ > + struct iio_dev *indio_dev = i2c_get_clientdata(client); > + > + iio_device_unregister(indio_dev); > + iio_triggered_buffer_cleanup(indio_dev); > + > + return 0; > +} > + > +static const struct i2c_device_id lidar_id[] = { > + {"lidar", 0}, This one wants a longer name as well. It's afterall used for matching in some circumstances. > + { }, > +}; > +MODULE_DEVICE_TABLE(i2c, lidar_id); > + > +static const struct of_device_id lidar_dt_ids[] = { > + { .compatible = "pulsedlight,lidar-lite-v2" }, > + { } > +}; > + > +static struct i2c_driver lidar_driver = { > + .driver = { > + .name = LIDAR_DRV_NAME, > + .of_match_table = of_match_ptr(lidar_dt_ids), > + }, > + .probe = lidar_probe, > + .remove = lidar_remove, > + .id_table = lidar_id, > +}; > +module_i2c_driver(lidar_driver); > + > +MODULE_AUTHOR("Matt Ranostay <mranostay@gmail.com>"); > +MODULE_DESCRIPTION("PulsedLight LIDAR sensor"); > +MODULE_LICENSE("GPL"); > ^ permalink raw reply [flat|nested] 5+ messages in thread
* Re: [PATCH 2/2] iio: proximity: add support for PulsedLight LIDAR 2015-08-16 8:24 ` Jonathan Cameron @ 2015-08-18 2:33 ` Matt Ranostay 0 siblings, 0 replies; 5+ messages in thread From: Matt Ranostay @ 2015-08-18 2:33 UTC (permalink / raw) To: Jonathan Cameron; +Cc: linux-iio@vger.kernel.org, devicetree@vger.kernel.org On Sun, Aug 16, 2015 at 1:24 AM, Jonathan Cameron <jic23@kernel.org> wrote: > On 12/08/15 07:01, Matt Ranostay wrote: >> Add support for the PulsedLight LIDAR rangefinder sensor which allows >> high speed (over 300Hz) distance measurements using Barker Coding within >> 40 meter range. >> >> Support only tested on the "blue label" rev 2, but may work using low >> sample frequencies on the original version. >> >> Signed-off-by: Matt Ranostay <mranostay@gmail.com> > You missed a few cases of the name lidar being used for device > matching. > > Also, just noticed you are holding a local lock only when checking if > bufferred capture is enabled. You need to hold the indio_dev->mlock to > avoid racing with a buffer enable. > > Mostly there now though. > > Jonathan >> --- >> drivers/iio/proximity/Kconfig | 12 + >> drivers/iio/proximity/Makefile | 1 + >> drivers/iio/proximity/pulsedlight-lidar-lite-v2.c | 292 ++++++++++++++++++++++ >> 3 files changed, 305 insertions(+) >> create mode 100644 drivers/iio/proximity/pulsedlight-lidar-lite-v2.c >> >> diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig >> index 41a8d8f..e64fc5b 100644 >> --- a/drivers/iio/proximity/Kconfig >> +++ b/drivers/iio/proximity/Kconfig >> @@ -20,6 +20,18 @@ endmenu >> >> menu "Proximity sensors" >> >> +config LIDAR > The config symbol needs more detail as well as it's not a unique > part number. >> + tristate "PulsedLight LIDAR sensor" >> + select IIO_BUFFER >> + select IIO_TRIGGERED_BUFFER >> + depends on I2C >> + help >> + Say Y to build a driver for PulsedLight LIDAR range finding >> + sensor. >> + >> + To compile this driver as a module, choose M here: the >> + module will be called lidar. > Not any more it won't. >> + >> config SX9500 >> tristate "SX9500 Semtech proximity sensor" >> select IIO_BUFFER >> diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile >> index 9818dc5..081ae33 100644 >> --- a/drivers/iio/proximity/Makefile >> +++ b/drivers/iio/proximity/Makefile >> @@ -4,4 +4,5 @@ >> >> # When adding new entries keep the list in alphabetical order >> obj-$(CONFIG_AS3935) += as3935.o >> +obj-$(CONFIG_LIDAR) += pulsedlight-lidar-lite-v2.o >> obj-$(CONFIG_SX9500) += sx9500.o >> diff --git a/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c >> new file mode 100644 >> index 0000000..ff0681b >> --- /dev/null >> +++ b/drivers/iio/proximity/pulsedlight-lidar-lite-v2.c >> @@ -0,0 +1,292 @@ >> +/* >> + * pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor >> + * >> + * Copyright (C) 2015 Matt Ranostay <mranostay@gmail.com> >> + * >> + * This program is free software; you can redistribute it and/or modify >> + * it under the terms of the GNU General Public License as published by >> + * the Free Software Foundation; either version 2 of the License, or >> + * (at your option) any later version. >> + * >> + * This program is distributed in the hope that it will be useful, >> + * but WITHOUT ANY WARRANTY; without even the implied warranty of >> + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the >> + * GNU General Public License for more details. >> + * >> + * TODO: runtime pm, interrupt mode, and signal strength reporting >> + * > No blank line here. >> + */ >> + >> +#include <linux/err.h> >> +#include <linux/init.h> >> +#include <linux/i2c.h> >> +#include <linux/delay.h> >> +#include <linux/mutex.h> >> +#include <linux/module.h> >> +#include <linux/iio/iio.h> >> +#include <linux/iio/sysfs.h> >> +#include <linux/iio/buffer.h> >> +#include <linux/iio/trigger.h> >> +#include <linux/iio/triggered_buffer.h> >> +#include <linux/iio/trigger_consumer.h> >> + >> +#define LIDAR_REG_CONTROL 0x00 >> +#define LIDAR_REG_CONTROL_ACQUIRE BIT(2) >> + >> +#define LIDAR_REG_STATUS 0x01 >> +#define LIDAR_REG_STATUS_INVALID BIT(3) >> +#define LIDAR_REG_STATUS_READY BIT(0) >> + >> +#define LIDAR_REG_DATA_HBYTE 0x0f >> +#define LIDAR_REG_DATA_LBYTE 0x10 >> + >> +#define LIDAR_DRV_NAME "lidar" >> + >> +struct lidar_data { >> + struct mutex lock; >> + struct iio_dev *indio_dev; >> + struct i2c_client *client; >> + >> + u16 buffer[8]; /* 2 byte distance + 8 byte timestamp */ >> +}; >> + >> +static const struct iio_chan_spec lidar_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 lidar_read_byte(struct lidar_data *data, int reg) >> +{ >> + struct i2c_client *client = data->client; >> + int ret; >> + >> + /* >> + * Device needs a STOP condition between address write, and data read >> + * so in turn i2c_smbus_read_byte_data cannot be used >> + */ >> + >> + ret = i2c_smbus_write_byte(client, reg); >> + if (ret < 0) { >> + dev_err(&client->dev, "cannot write addr value"); >> + return ret; >> + } >> + >> + ret = i2c_smbus_read_byte(client); >> + if (ret < 0) >> + dev_err(&client->dev, "cannot read data value"); >> + >> + return ret; >> +} >> + >> +static inline int lidar_write_control(struct lidar_data *data, int val) >> +{ >> + return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val); >> +} >> + >> +static int lidar_read_measurement(struct lidar_data *data, u16 *reg) >> +{ >> + int ret; >> + int val; >> + >> + ret = lidar_read_byte(data, LIDAR_REG_DATA_HBYTE); >> + if (ret < 0) >> + return ret; >> + val = ret << 8; >> + >> + ret = lidar_read_byte(data, LIDAR_REG_DATA_LBYTE); >> + if (ret < 0) >> + return ret; >> + >> + val |= ret; >> + *reg = val; >> + >> + return 0; >> +} >> + >> +static int lidar_get_measurement(struct lidar_data *data, u16 *reg) >> +{ >> + struct i2c_client *client = data->client; >> + int tries = 10; >> + int ret; >> + >> + /* start sample */ >> + ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE); >> + if (ret < 0) { >> + dev_err(&client->dev, "cannot send start measurement command"); >> + return ret; >> + } >> + >> + while (tries--) { >> + usleep_range(1000, 2000); >> + >> + ret = lidar_read_byte(data, LIDAR_REG_STATUS); >> + if (ret < 0) >> + break; >> + >> + /* return 0 since laser is likely pointed out of range */ >> + if (ret & LIDAR_REG_STATUS_INVALID) { >> + *reg = 0; >> + ret = 0; >> + break; >> + } >> + >> + /* sample ready to read */ >> + if (!(ret & LIDAR_REG_STATUS_READY)) { >> + ret = lidar_read_measurement(data, reg); >> + break; >> + } >> + ret = -EIO; >> + } >> + >> + return ret; >> +} >> + >> +static int lidar_read_raw(struct iio_dev *indio_dev, >> + struct iio_chan_spec const *chan, >> + int *val, int *val2, long mask) >> +{ >> + struct lidar_data *data = iio_priv(indio_dev); >> + int ret = -EINVAL; >> + >> + mutex_lock(&data->lock); >> + > > This particular check needs to hold the indio_dev->mlock as that > is the one that protects core state changes (enabling and disabling the > buffer). You want to hang on to that lock until the read is done. So I guess I can get rid of the data->lock? Since it really isn't used anywhere else? > >> + if (iio_buffer_enabled(indio_dev) && mask == IIO_CHAN_INFO_RAW) { >> + ret = -EBUSY; >> + goto error_busy; >> + } >> + >> + switch (mask) { >> + case IIO_CHAN_INFO_RAW: { >> + u16 reg; >> + >> + ret = lidar_get_measurement(data, ®); >> + if (!ret) { >> + *val = reg; >> + ret = IIO_VAL_INT; >> + } >> + break; >> + } >> + case IIO_CHAN_INFO_SCALE: >> + *val = 0; >> + *val2 = 10000; >> + ret = IIO_VAL_INT_PLUS_MICRO; >> + break; >> + } >> + >> +error_busy: >> + mutex_unlock(&data->lock); >> + >> + return ret; >> +} >> + >> +static irqreturn_t lidar_trigger_handler(int irq, void *private) >> +{ >> + struct iio_poll_func *pf = private; >> + struct iio_dev *indio_dev = pf->indio_dev; >> + struct lidar_data *data = iio_priv(indio_dev); >> + int ret; >> + >> + ret = lidar_get_measurement(data, data->buffer); >> + if (!ret) { >> + iio_push_to_buffers_with_timestamp(indio_dev, data->buffer, >> + iio_get_time_ns()); >> + } else { >> + dev_err(&data->client->dev, "cannot read LIDAR measurement"); >> + } >> + >> + iio_trigger_notify_done(indio_dev->trig); >> + >> + return IRQ_HANDLED; >> +} >> + >> +static const struct iio_info lidar_info = { >> + .driver_module = THIS_MODULE, >> + .read_raw = lidar_read_raw, >> +}; >> + >> +static int lidar_probe(struct i2c_client *client, >> + const struct i2c_device_id *id) >> +{ >> + struct lidar_data *data; >> + struct iio_dev *indio_dev; >> + int ret; >> + >> + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); >> + if (!indio_dev) >> + return -ENOMEM; >> + >> + indio_dev->info = &lidar_info; >> + indio_dev->name = LIDAR_DRV_NAME; >> + indio_dev->channels = lidar_channels; >> + indio_dev->num_channels = ARRAY_SIZE(lidar_channels); >> + indio_dev->modes = INDIO_DIRECT_MODE; >> + >> + data = iio_priv(indio_dev); >> + i2c_set_clientdata(client, indio_dev); >> + >> + data->client = client; >> + data->indio_dev = indio_dev; >> + mutex_init(&data->lock); >> + >> + ret = iio_triggered_buffer_setup(indio_dev, NULL, >> + lidar_trigger_handler, NULL); >> + if (ret) >> + return ret; >> + >> + ret = iio_device_register(indio_dev); >> + if (ret) >> + goto error_unreg_buffer; >> + >> + return 0; >> + >> +error_unreg_buffer: >> + iio_triggered_buffer_cleanup(indio_dev); >> + >> + return ret; >> +} >> + >> +static int lidar_remove(struct i2c_client *client) >> +{ >> + struct iio_dev *indio_dev = i2c_get_clientdata(client); >> + >> + iio_device_unregister(indio_dev); >> + iio_triggered_buffer_cleanup(indio_dev); >> + >> + return 0; >> +} >> + >> +static const struct i2c_device_id lidar_id[] = { >> + {"lidar", 0}, > > This one wants a longer name as well. It's afterall used for > matching in some circumstances. > >> + { }, >> +}; >> +MODULE_DEVICE_TABLE(i2c, lidar_id); >> + >> +static const struct of_device_id lidar_dt_ids[] = { >> + { .compatible = "pulsedlight,lidar-lite-v2" }, >> + { } >> +}; >> + >> +static struct i2c_driver lidar_driver = { >> + .driver = { >> + .name = LIDAR_DRV_NAME, >> + .of_match_table = of_match_ptr(lidar_dt_ids), >> + }, >> + .probe = lidar_probe, >> + .remove = lidar_remove, >> + .id_table = lidar_id, >> +}; >> +module_i2c_driver(lidar_driver); >> + >> +MODULE_AUTHOR("Matt Ranostay <mranostay@gmail.com>"); >> +MODULE_DESCRIPTION("PulsedLight LIDAR sensor"); >> +MODULE_LICENSE("GPL"); >> > ^ permalink raw reply [flat|nested] 5+ messages in thread
end of thread, other threads:[~2015-08-18 2:33 UTC | newest] Thread overview: 5+ messages (download: mbox.gz follow: Atom feed -- links below jump to the message on this page -- 2015-08-12 6:01 [PATCH v5 0/2] iio: proximity: add PulsedLight LIDAR sensor support Matt Ranostay 2015-08-12 6:01 ` [PATCH 1/2] devicetree: add PulsedLight vendor + device docs Matt Ranostay 2015-08-12 6:01 ` [PATCH 2/2] iio: proximity: add support for PulsedLight LIDAR Matt Ranostay 2015-08-16 8:24 ` Jonathan Cameron 2015-08-18 2:33 ` Matt Ranostay
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