![Matt Ranostay](/assets/img/avatar_default.png)
Add GPLv2+ SPDX identifier and update email for author's drivers. Signed-off-by: Matt Ranostay <matt.ranostay@konsulko.com> Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
375 lines
8.3 KiB
C
375 lines
8.3 KiB
C
// SPDX-License-Identifier: GPL-2.0+
|
|
/*
|
|
* pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor
|
|
*
|
|
* Copyright (C) 2015, 2017-2018
|
|
* Author: Matt Ranostay <matt.ranostay@konsulko.com>
|
|
*
|
|
* TODO: interrupt mode, and signal strength reporting
|
|
*/
|
|
|
|
#include <linux/err.h>
|
|
#include <linux/init.h>
|
|
#include <linux/i2c.h>
|
|
#include <linux/delay.h>
|
|
#include <linux/module.h>
|
|
#include <linux/pm_runtime.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_REG_DATA_WORD_READ BIT(7)
|
|
|
|
#define LIDAR_REG_PWR_CONTROL 0x65
|
|
|
|
#define LIDAR_DRV_NAME "lidar"
|
|
|
|
struct lidar_data {
|
|
struct iio_dev *indio_dev;
|
|
struct i2c_client *client;
|
|
|
|
int (*xfer)(struct lidar_data *data, u8 reg, u8 *val, int len);
|
|
int i2c_enabled;
|
|
|
|
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_i2c_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
|
|
{
|
|
struct i2c_client *client = data->client;
|
|
struct i2c_msg msg[2];
|
|
int ret;
|
|
|
|
msg[0].addr = client->addr;
|
|
msg[0].flags = client->flags | I2C_M_STOP;
|
|
msg[0].len = 1;
|
|
msg[0].buf = (char *) ®
|
|
|
|
msg[1].addr = client->addr;
|
|
msg[1].flags = client->flags | I2C_M_RD;
|
|
msg[1].len = len;
|
|
msg[1].buf = (char *) val;
|
|
|
|
ret = i2c_transfer(client->adapter, msg, 2);
|
|
|
|
return (ret == 2) ? 0 : -EIO;
|
|
}
|
|
|
|
static int lidar_smbus_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
|
|
{
|
|
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
|
|
*/
|
|
|
|
while (len--) {
|
|
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;
|
|
}
|
|
|
|
*(val++) = ret;
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int lidar_read_byte(struct lidar_data *data, u8 reg)
|
|
{
|
|
int ret;
|
|
u8 val;
|
|
|
|
ret = data->xfer(data, reg, &val, 1);
|
|
if (ret < 0)
|
|
return ret;
|
|
|
|
return val;
|
|
}
|
|
|
|
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 inline int lidar_write_power(struct lidar_data *data, int val)
|
|
{
|
|
return i2c_smbus_write_byte_data(data->client,
|
|
LIDAR_REG_PWR_CONTROL, val);
|
|
}
|
|
|
|
static int lidar_read_measurement(struct lidar_data *data, u16 *reg)
|
|
{
|
|
int ret = data->xfer(data, LIDAR_REG_DATA_HBYTE |
|
|
(data->i2c_enabled ? LIDAR_REG_DATA_WORD_READ : 0),
|
|
(u8 *) reg, 2);
|
|
|
|
if (!ret)
|
|
*reg = be16_to_cpu(*reg);
|
|
|
|
return ret;
|
|
}
|
|
|
|
static int lidar_get_measurement(struct lidar_data *data, u16 *reg)
|
|
{
|
|
struct i2c_client *client = data->client;
|
|
int tries = 10;
|
|
int ret;
|
|
|
|
pm_runtime_get_sync(&client->dev);
|
|
|
|
/* 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 -EINVAL since laser is likely pointed out of range */
|
|
if (ret & LIDAR_REG_STATUS_INVALID) {
|
|
*reg = 0;
|
|
ret = -EINVAL;
|
|
break;
|
|
}
|
|
|
|
/* sample ready to read */
|
|
if (!(ret & LIDAR_REG_STATUS_READY)) {
|
|
ret = lidar_read_measurement(data, reg);
|
|
break;
|
|
}
|
|
ret = -EIO;
|
|
}
|
|
pm_runtime_mark_last_busy(&client->dev);
|
|
pm_runtime_put_autosuspend(&client->dev);
|
|
|
|
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;
|
|
|
|
switch (mask) {
|
|
case IIO_CHAN_INFO_RAW: {
|
|
u16 reg;
|
|
|
|
if (iio_device_claim_direct_mode(indio_dev))
|
|
return -EBUSY;
|
|
|
|
ret = lidar_get_measurement(data, ®);
|
|
if (!ret) {
|
|
*val = reg;
|
|
ret = IIO_VAL_INT;
|
|
}
|
|
iio_device_release_direct_mode(indio_dev);
|
|
break;
|
|
}
|
|
case IIO_CHAN_INFO_SCALE:
|
|
*val = 0;
|
|
*val2 = 10000;
|
|
ret = IIO_VAL_INT_PLUS_MICRO;
|
|
break;
|
|
}
|
|
|
|
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(indio_dev));
|
|
} else if (ret != -EINVAL) {
|
|
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 = {
|
|
.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;
|
|
data = iio_priv(indio_dev);
|
|
|
|
if (i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
|
|
data->xfer = lidar_i2c_xfer;
|
|
data->i2c_enabled = 1;
|
|
} else if (i2c_check_functionality(client->adapter,
|
|
I2C_FUNC_SMBUS_WORD_DATA | I2C_FUNC_SMBUS_BYTE))
|
|
data->xfer = lidar_smbus_xfer;
|
|
else
|
|
return -EOPNOTSUPP;
|
|
|
|
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->dev.parent = &client->dev;
|
|
indio_dev->modes = INDIO_DIRECT_MODE;
|
|
|
|
i2c_set_clientdata(client, indio_dev);
|
|
|
|
data->client = client;
|
|
data->indio_dev = indio_dev;
|
|
|
|
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;
|
|
|
|
pm_runtime_set_autosuspend_delay(&client->dev, 1000);
|
|
pm_runtime_use_autosuspend(&client->dev);
|
|
|
|
ret = pm_runtime_set_active(&client->dev);
|
|
if (ret)
|
|
goto error_unreg_buffer;
|
|
pm_runtime_enable(&client->dev);
|
|
pm_runtime_idle(&client->dev);
|
|
|
|
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);
|
|
|
|
pm_runtime_disable(&client->dev);
|
|
pm_runtime_set_suspended(&client->dev);
|
|
|
|
return 0;
|
|
}
|
|
|
|
static const struct i2c_device_id lidar_id[] = {
|
|
{"lidar-lite-v2", 0},
|
|
{"lidar-lite-v3", 0},
|
|
{ },
|
|
};
|
|
MODULE_DEVICE_TABLE(i2c, lidar_id);
|
|
|
|
static const struct of_device_id lidar_dt_ids[] = {
|
|
{ .compatible = "pulsedlight,lidar-lite-v2" },
|
|
{ .compatible = "grmn,lidar-lite-v3" },
|
|
{ }
|
|
};
|
|
MODULE_DEVICE_TABLE(of, lidar_dt_ids);
|
|
|
|
#ifdef CONFIG_PM
|
|
static int lidar_pm_runtime_suspend(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
|
|
struct lidar_data *data = iio_priv(indio_dev);
|
|
|
|
return lidar_write_power(data, 0x0f);
|
|
}
|
|
|
|
static int lidar_pm_runtime_resume(struct device *dev)
|
|
{
|
|
struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
|
|
struct lidar_data *data = iio_priv(indio_dev);
|
|
int ret = lidar_write_power(data, 0);
|
|
|
|
/* regulator and FPGA needs settling time */
|
|
usleep_range(15000, 20000);
|
|
|
|
return ret;
|
|
}
|
|
#endif
|
|
|
|
static const struct dev_pm_ops lidar_pm_ops = {
|
|
SET_RUNTIME_PM_OPS(lidar_pm_runtime_suspend,
|
|
lidar_pm_runtime_resume, NULL)
|
|
};
|
|
|
|
static struct i2c_driver lidar_driver = {
|
|
.driver = {
|
|
.name = LIDAR_DRV_NAME,
|
|
.of_match_table = of_match_ptr(lidar_dt_ids),
|
|
.pm = &lidar_pm_ops,
|
|
},
|
|
.probe = lidar_probe,
|
|
.remove = lidar_remove,
|
|
.id_table = lidar_id,
|
|
};
|
|
module_i2c_driver(lidar_driver);
|
|
|
|
MODULE_AUTHOR("Matt Ranostay <matt.ranostay@konsulko.com>");
|
|
MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
|
|
MODULE_LICENSE("GPL");
|