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iio: proximity: add driver for ST VL53L1X ToF sensor

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

Reviewed-by: Andy Shevchenko <andriy.shevchenko@intel.com>
Signed-off-by: Siratul Islam <email@sirat.me>
Signed-off-by: Jonathan Cameron <Jonathan.Cameron@huawei.com>
This commit is contained in:
Siratul Islam
2026-03-26 02:19:42 +06:00
committed by Jonathan Cameron
parent 2c9225e8d2
commit 128e5ebec8
4 changed files with 773 additions and 0 deletions
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1
MAINTAINERS
View File

@@ -25110,6 +25110,7 @@ M: Siratul Islam <email@sirat.me>
L: linux-iio@vger.kernel.org
S: Maintained
F: Documentation/devicetree/bindings/iio/proximity/st,vl53l0x.yaml
F: drivers/iio/proximity/vl53l1x-i2c.c
STABLE BRANCH
M: Greg Kroah-Hartman <gregkh@linuxfoundation.org>

15
drivers/iio/proximity/Kconfig
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@@ -244,6 +244,21 @@ 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
select RESET_CONTROLLER
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

1
drivers/iio/proximity/Makefile
View File

@@ -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

756
drivers/iio/proximity/vl53l1x-i2c.c Normal file
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@@ -0,0 +1,756 @@
// 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/array_size.h>
#include <linux/bits.h>
#include <linux/bitfield.h>
#include <linux/completion.h>
#include <linux/delay.h>
#include <linux/dev_printk.h>
#include <linux/err.h>
#include <linux/i2c.h>
#include <linux/interrupt.h>
#include <linux/math.h>
#include <linux/mod_devicetable.h>
#include <linux/module.h>
#include <linux/regmap.h>
#include <linux/regulator/consumer.h>
#include <linux/reset.h>
#include <linux/time.h>
#include <linux/types.h>
#include <asm/byteorder.h>
#include <linux/iio/buffer.h>
#include <linux/iio/iio.h>
#include <linux/iio/trigger.h>
#include <linux/iio/trigger_consumer.h>
#include <linux/iio/triggered_buffer.h>
#define VL53L1X_REG_SOFT_RESET 0x0000
#define VL53L1X_REG_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
#define VL53L1X_REG_VHV_CONFIG__INIT 0x000B
#define VL53L1X_REG_GPIO_HV_MUX__CTRL 0x0030
#define VL53L1X_REG_GPIO__TIO_HV_STATUS 0x0031
#define VL53L1X_REG_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
#define VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
#define VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_A 0x005E
#define VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
#define VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_B 0x0061
#define VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
#define VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
#define VL53L1X_REG_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
#define VL53L1X_REG_SD_CONFIG__WOI_SD0 0x0078
#define VL53L1X_REG_SD_CONFIG__WOI_SD1 0x0079
#define VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0 0x007A
#define VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1 0x007B
#define VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR 0x0086
#define VL53L1X_REG_SYSTEM__MODE_START 0x0087
#define VL53L1X_REG_RESULT__RANGE_STATUS 0x0089
#define VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
#define VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL 0x00DE
#define VL53L1X_REG_FIRMWARE__SYSTEM_STATUS 0x00E5
#define VL53L1X_REG_IDENTIFICATION__MODEL_ID 0x010F
#define VL53L1X_REG_DEFAULT_CONFIG 0x002D
#define VL53L1X_MODEL_ID_VAL 0xEACC
#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
#define VL53L1X_OSC_CALIBRATE_MASK GENMASK(9, 0)
/* Inter-measurement period uses PLL divider with 1.075 oscillator correction */
static const struct u32_fract vl53l1x_osc_correction = {
.numerator = 1075,
.denominator = 1000,
};
enum vl53l1x_distance_mode {
VL53L1X_SHORT,
VL53L1X_LONG,
};
struct vl53l1x_data {
struct regmap *regmap;
struct completion completion;
struct reset_control *xshut_reset;
enum vl53l1x_distance_mode distance_mode;
u8 gpio_polarity;
int irq;
};
static const struct regmap_range vl53l1x_volatile_ranges[] = {
regmap_reg_range(VL53L1X_REG_GPIO__TIO_HV_STATUS,
VL53L1X_REG_GPIO__TIO_HV_STATUS),
regmap_reg_range(VL53L1X_REG_RESULT__RANGE_STATUS,
VL53L1X_REG_RESULT__RANGE_STATUS),
regmap_reg_range(VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 + 1),
regmap_reg_range(VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL,
VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL + 1),
regmap_reg_range(VL53L1X_REG_FIRMWARE__SYSTEM_STATUS,
VL53L1X_REG_FIRMWARE__SYSTEM_STATUS),
};
static const struct regmap_access_table vl53l1x_volatile_table = {
.yes_ranges = vl53l1x_volatile_ranges,
.n_yes_ranges = ARRAY_SIZE(vl53l1x_volatile_ranges),
};
static const struct regmap_range vl53l1x_write_only_ranges[] = {
regmap_reg_range(VL53L1X_REG_SOFT_RESET, VL53L1X_REG_SOFT_RESET),
regmap_reg_range(VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR,
VL53L1X_REG_SYSTEM__MODE_START),
};
static const struct regmap_access_table vl53l1x_readable_table = {
.no_ranges = vl53l1x_write_only_ranges,
.n_no_ranges = ARRAY_SIZE(vl53l1x_write_only_ranges),
};
static const struct regmap_config vl53l1x_regmap_config = {
.reg_bits = 16,
.val_bits = 8,
/* MODEL_ID is 16-bit. +1 covers the second byte at 0x0110 */
.max_register = VL53L1X_REG_IDENTIFICATION__MODEL_ID + 1,
.cache_type = REGCACHE_MAPLE,
.volatile_table = &vl53l1x_volatile_table,
.rd_table = &vl53l1x_readable_table,
};
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, sizeof(buf));
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, sizeof(buf));
}
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, sizeof(buf));
}
static int vl53l1x_clear_irq(struct vl53l1x_data *data)
{
return regmap_write(data->regmap, VL53L1X_REG_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_REG_SYSTEM__MODE_START,
VL53L1X_MODE_START_TIMED);
}
static int vl53l1x_stop_ranging(struct vl53l1x_data *data)
{
return regmap_write(data->regmap, VL53L1X_REG_SYSTEM__MODE_START,
VL53L1X_MODE_START_STOP);
}
/*
* Default configuration blob from ST's VL53L1X Ultra Lite Driver
* (STSW-IMG009).
*/
static const u8 vl53l1x_default_config[] = {
0x00, 0x00, 0x00, 0x01, 0x02, 0x00, 0x02, 0x08, /* reg 0x2d..0x34 */
0x00, 0x08, 0x10, 0x01, 0x01, 0x00, 0x00, 0x00, /* reg 0x35..0x3c */
0x00, 0xFF, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, /* reg 0x3d..0x44 */
0x00, 0x20, 0x0B, 0x00, 0x00, 0x02, 0x0A, 0x21, /* reg 0x45..0x4c */
0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0xC8, /* reg 0x4d..0x54 */
0x00, 0x00, 0x38, 0xFF, 0x01, 0x00, 0x08, 0x00, /* reg 0x55..0x5c */
0x00, 0x01, 0xCC, 0x0F, 0x01, 0xF1, 0x0D, 0x01, /* reg 0x5d..0x64 */
0x68, 0x00, 0x80, 0x08, 0xB8, 0x00, 0x00, 0x00, /* reg 0x65..0x6c */
0x00, 0x0F, 0x89, 0x00, 0x00, 0x00, 0x00, 0x00, /* reg 0x6d..0x74 */
0x00, 0x00, 0x01, 0x0F, 0x0D, 0x0E, 0x0E, 0x00, /* reg 0x75..0x7c */
0x00, 0x02, 0xC7, 0xFF, 0x9B, 0x00, 0x00, 0x00, /* reg 0x7d..0x84 */
0x01, 0x00, 0x00, /* reg 0x85..0x87 */
};
static int vl53l1x_chip_init(struct vl53l1x_data *data)
{
struct device *dev = regmap_get_device(data->regmap);
unsigned int val;
u16 model_id;
int ret;
if (!data->xshut_reset) {
ret = regmap_write(data->regmap, VL53L1X_REG_SOFT_RESET, 0x00);
if (ret)
return ret;
fsleep(100); /* conservative reset pulse, no spec */
ret = regmap_write(data->regmap, VL53L1X_REG_SOFT_RESET, 0x01);
if (ret)
return ret;
fsleep(1000); /* conservative boot wait, no spec */
}
ret = regmap_read_poll_timeout(data->regmap,
VL53L1X_REG_FIRMWARE__SYSTEM_STATUS, val,
val & BIT(0),
1 * USEC_PER_MSEC,
100 * USEC_PER_MSEC);
if (ret)
return dev_err_probe(dev, ret, "firmware boot timeout\n");
ret = vl53l1x_read_u16(data, VL53L1X_REG_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 = regmap_bulk_write(data->regmap, VL53L1X_REG_DEFAULT_CONFIG,
vl53l1x_default_config,
sizeof(vl53l1x_default_config));
if (ret)
return ret;
ret = regmap_read(data->regmap, VL53L1X_REG_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;
/* 1ms poll, 1s timeout covers max timing budgets (per ST Ultra Lite Driver) */
ret = regmap_read_poll_timeout(data->regmap,
VL53L1X_REG_GPIO__TIO_HV_STATUS, val,
(val & 1) != data->gpio_polarity,
1 * USEC_PER_MSEC,
1000 * USEC_PER_MSEC);
if (ret)
return ret;
ret = vl53l1x_clear_irq(data);
if (ret)
return ret;
ret = vl53l1x_stop_ranging(data);
if (ret)
return ret;
ret = regmap_write(data->regmap,
VL53L1X_REG_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
VL53L1X_VHV_LOOP_BOUND_TWO);
if (ret)
return ret;
return regmap_write(data->regmap, VL53L1X_REG_VHV_CONFIG__INIT, 0x00);
}
static const struct reg_sequence vl53l1x_mode_short[] = {
{ VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14 },
{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A, 0x07 },
{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B, 0x05 },
{ VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH, 0x38 },
{ VL53L1X_REG_SD_CONFIG__WOI_SD0, 0x07 },
{ VL53L1X_REG_SD_CONFIG__WOI_SD1, 0x05 },
{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0, 0x06 },
{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1, 0x06 },
};
static const struct reg_sequence vl53l1x_mode_long[] = {
{ VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A },
{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F },
{ VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D },
{ VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8 },
{ VL53L1X_REG_SD_CONFIG__WOI_SD0, 0x0F },
{ VL53L1X_REG_SD_CONFIG__WOI_SD1, 0x0D },
{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0, 0x0E },
{ VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1, 0x0E },
};
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 Ultra Lite Driver.
*/
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_REG_RANGE_CONFIG__TIMEOUT_MACROP_A,
timeout_a);
if (ret)
return ret;
return vl53l1x_write_u16(data, VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_B,
timeout_b);
}
static int vl53l1x_set_inter_measurement_ms(struct vl53l1x_data *data,
u16 period_ms)
{
u16 osc_calibrate_val;
u16 clock_pll;
u32 inter_meas;
int ret;
ret = vl53l1x_read_u16(data, VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL,
&osc_calibrate_val);
if (ret)
return ret;
clock_pll = osc_calibrate_val & VL53L1X_OSC_CALIBRATE_MASK;
inter_meas = (clock_pll * period_ms * vl53l1x_osc_correction.numerator) /
vl53l1x_osc_correction.denominator;
return vl53l1x_write_u32(data,
VL53L1X_REG_SYSTEM__INTERMEASUREMENT_PERIOD,
inter_meas);
}
static int vl53l1x_read_proximity(struct vl53l1x_data *data, int *val)
{
unsigned int range_status;
u16 distance;
int ret;
if (data->irq) {
reinit_completion(&data->completion);
ret = vl53l1x_clear_irq(data);
if (ret)
return ret;
if (!wait_for_completion_timeout(&data->completion, HZ))
return -ETIMEDOUT;
} else {
unsigned int rdy;
/* 1ms poll, 1s timeout covers max timing budgets (per ST Ultra Lite Driver) */
ret = regmap_read_poll_timeout(data->regmap,
VL53L1X_REG_GPIO__TIO_HV_STATUS, rdy,
(rdy & 1) != data->gpio_polarity,
1 * USEC_PER_MSEC,
1000 * USEC_PER_MSEC);
if (ret)
return ret;
}
ret = regmap_read(data->regmap, VL53L1X_REG_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_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
&distance);
if (ret)
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 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_REG_RESULT__RANGE_STATUS,
&range_status);
if (ret)
goto notify_and_clear_irq;
if (FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) !=
VL53L1X_RANGE_STATUS_VALID)
goto notify_and_clear_irq;
ret = vl53l1x_read_u16(data,
VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
&scan.distance);
if (ret)
goto notify_and_clear_irq;
iio_push_to_buffers_with_ts(indio_dev, &scan, sizeof(scan),
iio_get_time_ns(indio_dev));
notify_and_clear_irq:
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 const struct iio_trigger_ops vl53l1x_trigger_ops = {
.validate_device = iio_trigger_validate_own_device,
};
static void vl53l1x_stop_ranging_action(void *priv)
{
vl53l1x_stop_ranging(priv);
}
static int vl53l1x_configure_irq(struct device *dev, int irq,
struct iio_dev *indio_dev)
{
struct vl53l1x_data *data = iio_priv(indio_dev);
int ret;
ret = devm_request_irq(dev, irq, vl53l1x_irq_handler, IRQF_NO_THREAD,
indio_dev->name, indio_dev);
if (ret)
return ret;
ret = regmap_write(data->regmap, VL53L1X_REG_SYSTEM__INTERRUPT_CONFIG_GPIO,
VL53L1X_INT_NEW_SAMPLE_READY);
if (ret)
return dev_err_probe(dev, ret, "failed to configure IRQ\n");
return 0;
}
static int vl53l1x_probe(struct i2c_client *client)
{
struct device *dev = &client->dev;
struct vl53l1x_data *data;
struct iio_dev *indio_dev;
int ret;
indio_dev = devm_iio_device_alloc(dev, sizeof(*data));
if (!indio_dev)
return -ENOMEM;
data = iio_priv(indio_dev);
data->irq = client->irq;
data->regmap = devm_regmap_init_i2c(client, &vl53l1x_regmap_config);
if (IS_ERR(data->regmap))
return dev_err_probe(dev, PTR_ERR(data->regmap),
"regmap initialization failed\n");
ret = devm_regulator_get_enable(dev, "vdd");
if (ret)
return dev_err_probe(dev, ret, "Failed to enable VDD regulator\n");
/*
* XSHUT held low puts the chip in hardware standby. All register
* state is lost on de-assert so this is functionally a reset.
*/
data->xshut_reset = devm_reset_control_get_optional_exclusive_deasserted(dev, NULL);
if (IS_ERR(data->xshut_reset))
return dev_err_probe(dev, PTR_ERR(data->xshut_reset),
"Cannot get reset control\n");
/*
* 1.2 ms max boot duration.
* Datasheet Section 3.6 "Power up and boot sequence".
*/
fsleep(1200);
ret = vl53l1x_chip_init(data);
if (ret)
return ret;
ret = vl53l1x_set_distance_mode(data, VL53L1X_LONG);
if (ret)
return ret;
/* 50 ms timing budget (per ST Ultra Lite Driver) */
ret = vl53l1x_set_timing_budget(data, 50);
if (ret)
return ret;
/* 50 ms inter-measurement period (per ST Ultra Lite Driver) */
ret = vl53l1x_set_inter_measurement_ms(data, 50);
if (ret)
return ret;
/*
* The hardware only supports "autonomous" continuous ranging mode.
* Start ranging here and leave it running for the lifetime of
* the device. Both direct reads and the buffer path rely on this.
*/
ret = vl53l1x_start_ranging(data);
if (ret)
return ret;
ret = devm_add_action_or_reset(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(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(dev, trig);
if (ret)
return ret;
indio_dev->trig = iio_trigger_get(trig);
ret = vl53l1x_configure_irq(dev, client->irq, indio_dev);
if (ret)
return ret;
ret = devm_iio_triggered_buffer_setup(dev, indio_dev, NULL,
&vl53l1x_trigger_handler,
NULL);
if (ret)
return ret;
}
return devm_iio_device_register(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");