[PATCH v4 3/3] iio: Add PAT9125 optical tracker sensor
From: Alexandre Mergnat
Date: Fri Jul 12 2019 - 05:41:39 EST
This adds support for PixArt Imagingâs miniature low power optical
navigation chip using LASER light source enabling digital surface tracking.
Features and datasheet: [0]
This IIO driver allows to read relative position from where the system
started on X and Y axis through two way:
- Punctual "read_raw" which will issue a read in the device registers to
get the delta between last/current read and return the addition of all
the deltas.
- Buffer read. Data can be retrieved using triggered buffer subscription
(i.e. iio_readdev). The buffer payload is:
|32 bits delta X|32 bits delta Y|timestamp|.
The possible I2C addresses are 0x73, 0x75 and 0x79.
X and Y axis CPI resolution can be get/set independently through IIO_SCALE.
The range value is 0-255 which means:
- 0 to ~1,275 Counts Per Inch on flat surface.
- 0 to ~630 Counts Per Rev on 1.0mm diameter STS shaft at 1.0mm distance.
More details on the datasheet.
The "position" directory is added to contain drivers which can provide
position data.
[0]: http://www.pixart.com/products-detail/72/PAT9125EL-TKIT___TKMT
Signed-off-by: Alexandre Mergnat <amergnat@xxxxxxxxxxxx>
---
drivers/iio/Kconfig | 1 +
drivers/iio/Makefile | 1 +
drivers/iio/position/Kconfig | 18 ++
drivers/iio/position/Makefile | 6 +
drivers/iio/position/pat9125.c | 506 +++++++++++++++++++++++++++++++++
5 files changed, 532 insertions(+)
create mode 100644 drivers/iio/position/Kconfig
create mode 100644 drivers/iio/position/Makefile
create mode 100644 drivers/iio/position/pat9125.c
diff --git a/drivers/iio/Kconfig b/drivers/iio/Kconfig
index 5bd51853b15e..aca6fcbceeab 100644
--- a/drivers/iio/Kconfig
+++ b/drivers/iio/Kconfig
@@ -85,6 +85,7 @@ source "drivers/iio/light/Kconfig"
source "drivers/iio/magnetometer/Kconfig"
source "drivers/iio/multiplexer/Kconfig"
source "drivers/iio/orientation/Kconfig"
+source "drivers/iio/position/Kconfig"
if IIO_TRIGGER
source "drivers/iio/trigger/Kconfig"
endif #IIO_TRIGGER
diff --git a/drivers/iio/Makefile b/drivers/iio/Makefile
index bff682ad1cfb..1712011c0f4a 100644
--- a/drivers/iio/Makefile
+++ b/drivers/iio/Makefile
@@ -31,6 +31,7 @@ obj-y += light/
obj-y += magnetometer/
obj-y += multiplexer/
obj-y += orientation/
+obj-y += position/
obj-y += potentiometer/
obj-y += potentiostat/
obj-y += pressure/
diff --git a/drivers/iio/position/Kconfig b/drivers/iio/position/Kconfig
new file mode 100644
index 000000000000..1cf28896511c
--- /dev/null
+++ b/drivers/iio/position/Kconfig
@@ -0,0 +1,18 @@
+#
+# Optical tracker sensors
+#
+# When adding new entries keep the list in alphabetical order
+
+menu "Optical tracker sensors"
+
+config PAT9125
+ tristate "Optical tracker PAT9125 I2C driver"
+ depends on I2C
+ select IIO_BUFFER
+ help
+ Say yes here to build support for PAT9125 optical tracker
+ sensors.
+
+ To compile this driver as a module, say M here: the module will
+ be called pat9125.
+endmenu
diff --git a/drivers/iio/position/Makefile b/drivers/iio/position/Makefile
new file mode 100644
index 000000000000..cf294917ae2c
--- /dev/null
+++ b/drivers/iio/position/Makefile
@@ -0,0 +1,6 @@
+#
+# Makefile for industrial I/O Optical tracker sensor drivers
+#
+
+# When adding new entries keep the list in alphabetical order
+obj-$(CONFIG_PAT9125) += pat9125.o
diff --git a/drivers/iio/position/pat9125.c b/drivers/iio/position/pat9125.c
new file mode 100644
index 000000000000..2f04777e0790
--- /dev/null
+++ b/drivers/iio/position/pat9125.c
@@ -0,0 +1,506 @@
+// SPDX-License-Identifier: (GPL-2.0)
+/*
+ * Copyright (C) 2019 BayLibre, SAS
+ * Author: Alexandre Mergnat <amergnat@xxxxxxxxxxxx>
+ */
+
+#include <linux/bitops.h>
+#include <linux/delay.h>
+#include <linux/interrupt.h>
+#include <linux/i2c.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+#include <linux/iio/events.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+#include <linux/iio/kfifo_buf.h>
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/slab.h>
+
+/* I2C Address function to ID pin*/
+#define PAT9125_I2C_ADDR_HI 0x73
+#define PAT9125_I2C_ADDR_LO 0x75
+#define PAT9125_I2C_ADDR_NC 0x79
+
+/* Registers */
+#define PAT9125_PRD_ID1_REG 0x00
+#define PAT9125_PRD_ID2_REG 0x01
+#define PAT9125_MOTION_STATUS_REG 0x02
+#define PAT9125_DELTA_X_LO_REG 0x03
+#define PAT9125_DELTA_Y_LO_REG 0x04
+#define PAT9125_OP_MODE_REG 0x05
+#define PAT9125_CONFIG_REG 0x06
+#define PAT9125_WRITE_PROTEC_REG 0x09
+#define PAT9125_SLEEP1_REG 0x0A
+#define PAT9125_SLEEP2_REG 0x0B
+#define PAT9125_RES_X_REG 0x0D
+#define PAT9125_RES_Y_REG 0x0E
+#define PAT9125_DELTA_XY_HI_REG 0x12
+#define PAT9125_SHUTER_REG 0x14
+#define PAT9125_FRAME_AVG_REG 0x17
+#define PAT9125_ORIENTATION_REG 0x19
+
+/* Bits */
+#define PAT9125_VALID_MOTION_DATA_BIT BIT(7)
+#define PAT9125_RESET_BIT BIT(7)
+
+/* Registers' values */
+#define PAT9125_SENSOR_ID_VAL 0x31
+#define PAT9125_DISABLE_WRITE_PROTECT_VAL 0x5A
+#define PAT9125_ENABLE_WRITE_PROTECT_VAL 0x00
+
+/* Default Value of sampled value size */
+#define PAT9125_SAMPLED_VAL_BIT_SIZE 12
+
+struct pat9125_data {
+ struct regmap *regmap;
+ struct iio_trigger *indio_trig; /* Motion detection */
+ s32 position_x;
+ s32 position_y;
+ bool sampling;
+};
+
+static const struct iio_chan_spec pat9125_channels[] = {
+ {
+ .type = IIO_DISTANCE,
+ .modified = 1,
+ .channel2 = IIO_MOD_X,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE),
+ .scan_index = 0,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 32,
+ .storagebits = 32,
+ .endianness = IIO_CPU,
+ },
+ },
+ {
+ .type = IIO_DISTANCE,
+ .modified = 1,
+ .channel2 = IIO_MOD_Y,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE),
+ .scan_index = 1,
+ .scan_type = {
+ .sign = 's',
+ .realbits = 32,
+ .storagebits = 32,
+ .endianness = IIO_CPU,
+ },
+ },
+ IIO_CHAN_SOFT_TIMESTAMP(2),
+};
+
+/**
+ * pat9125_write_pretected_reg() - Write value in protected register.
+ *
+ * @regmap: Pointer to I2C register map.
+ * @reg_addr: Register address.
+ * @reg_value: Value to be write in register.
+ *
+ * A value of zero will be returned on success, a negative errno will
+ * be returned in error cases.
+ */
+static int pat9125_write_pretected_reg(struct iio_dev *indio_dev,
+ u8 reg_addr, u8 reg_value)
+{
+ struct pat9125_data *data = iio_priv(indio_dev);
+ int ret;
+
+ ret = regmap_write(data->regmap,
+ PAT9125_WRITE_PROTEC_REG,
+ PAT9125_DISABLE_WRITE_PROTECT_VAL);
+
+ if (!ret)
+ ret = regmap_write(data->regmap, reg_addr, reg_value);
+
+ /* Try to put back write protection everytime */
+ ret |= regmap_write(data->regmap,
+ PAT9125_WRITE_PROTEC_REG,
+ PAT9125_ENABLE_WRITE_PROTECT_VAL);
+
+ return ret;
+}
+/**
+ * pat9125_read_delta() - Read delta value, update delta & position data.
+ *
+ * @data: Driver's data structure.
+ *
+ * A value of zero will be returned on success, a negative errno will
+ * be returned in error cases.
+ */
+static int pat9125_read_delta(struct pat9125_data *data)
+{
+ struct regmap *regmap = data->regmap;
+ int status = 0;
+ int val_x = 0;
+ int val_y = 0;
+ int val_high_nibbles = 0;
+ int ret;
+
+ ret = regmap_read(regmap, PAT9125_MOTION_STATUS_REG, &status);
+ if (ret < 0)
+ return ret;
+
+ /* Check if motion is detected */
+ if (status & PAT9125_VALID_MOTION_DATA_BIT) {
+ ret = regmap_read(regmap, PAT9125_DELTA_X_LO_REG, &val_x);
+ if (ret < 0)
+ return ret;
+
+ ret = regmap_read(regmap, PAT9125_DELTA_Y_LO_REG, &val_y);
+ if (ret < 0)
+ return ret;
+
+ ret = regmap_read(regmap, PAT9125_DELTA_XY_HI_REG,
+ &val_high_nibbles);
+ if (ret < 0)
+ return ret;
+
+ val_x |= (val_high_nibbles << 4) & 0xF00;
+ val_y |= (val_high_nibbles << 8) & 0xF00;
+ val_x = sign_extend32(val_x,
+ PAT9125_SAMPLED_VAL_BIT_SIZE - 1);
+ val_y = sign_extend32(val_y,
+ PAT9125_SAMPLED_VAL_BIT_SIZE - 1);
+ data->position_x += val_x;
+ data->position_y += val_y;
+ }
+ return 0;
+}
+
+/**
+ * pat9125_read_raw() - Sample and return the value(s)
+ * function to the associated channel info enum.
+ *
+ * @indio_dev: Industrial I/O device.
+ * @chan: Specification of a single channel.
+ * @val: Contain the elements making up the returned value.
+ * @val2: Not used.
+ * @mask: (enum iio_chan_info_enum) Type of the info attribute.
+ *
+ * Zero will be returned on success, negative value otherwise.
+ **/
+static int pat9125_read_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan,
+ int *val, int *val2, long mask)
+{
+ struct pat9125_data *data = iio_priv(indio_dev);
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ ret = pat9125_read_delta(data);
+ if (ret)
+ return ret;
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ *val = data->position_x;
+ return IIO_VAL_INT;
+ case IIO_MOD_Y:
+ *val = data->position_y;
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ ret = regmap_read(data->regmap, PAT9125_RES_X_REG, val);
+ if (ret)
+ return ret;
+ else
+ return IIO_VAL_INT;
+ case IIO_MOD_Y:
+ ret = regmap_read(data->regmap, PAT9125_RES_Y_REG, val);
+ if (ret)
+ return ret;
+ else
+ return IIO_VAL_INT;
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+/**
+ * pat9125_write_raw() - Write the value(s)
+ * function to the associated channel info enum.
+ *
+ * @indio_dev: Industrial I/O device.
+ * @chan: Specification of a single channel.
+ * @val: Value write in the channel.
+ * @val2: Not used.
+ * @mask: (enum iio_chan_info_enum) Type of the info attribute.
+ *
+ * Zero will be returned on success, negative value otherwise.
+ **/
+static int pat9125_write_raw(struct iio_dev *indio_dev,
+ struct iio_chan_spec const *chan, int val,
+ int val2, long mask)
+{
+ int ret;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_SCALE:
+ switch (chan->channel2) {
+ case IIO_MOD_X:
+ ret = pat9125_write_pretected_reg(indio_dev,
+ PAT9125_RES_X_REG, val);
+ return ret;
+ case IIO_MOD_Y:
+ ret = pat9125_write_pretected_reg(indio_dev,
+ PAT9125_RES_Y_REG, val);
+ return ret;
+ default:
+ return -EINVAL;
+ }
+ default:
+ return -EINVAL;
+ }
+}
+
+static irqreturn_t pat9125_threaded_trigger_handler(int irq, void *p)
+{
+ struct iio_poll_func *pf = p;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct pat9125_data *data = iio_priv(indio_dev);
+ u8 buf[16]; /* Payload: Pos_X (4) | Pos_Y (4) | Timestamp (8) */
+ int ret;
+ s64 timestamp;
+
+ data->sampling = true;
+ ret = pat9125_read_delta(data);
+ if (ret) {
+ dev_err(indio_dev->dev.parent, "Read delta failed %d\n", ret);
+ return IRQ_NONE;
+ }
+ timestamp = iio_get_time_ns(indio_dev);
+ *((s32 *)&buf[0]) = data->position_x;
+ *((s32 *)&buf[sizeof(s32)]) = data->position_y;
+ iio_push_to_buffers_with_timestamp(indio_dev, buf, timestamp);
+ iio_trigger_notify_done(indio_dev->trig);
+ return IRQ_HANDLED;
+}
+
+/**
+ * pat9125_threaded_event_handler() - Threaded motion detection event handler
+ * @irq: The irq being handled.
+ * @private: struct iio_device pointer for the device.
+ */
+static irqreturn_t pat9125_threaded_event_handler(int irq, void *private)
+{
+ struct iio_dev *indio_dev = private;
+ struct pat9125_data *data = iio_priv(indio_dev);
+
+ iio_trigger_poll_chained(data->indio_trig);
+ return IRQ_HANDLED;
+}
+
+/**
+ * pat9125_buffer_postenable() - Buffer post enable actions
+ *
+ * @indio_dev: Industrial I/O device.
+ */
+static int pat9125_buffer_postenable(struct iio_dev *indio_dev)
+{
+ struct pat9125_data *data = iio_priv(indio_dev);
+ int ret = 0;
+
+ ret = iio_triggered_buffer_postenable(indio_dev);
+ if (ret)
+ return ret;
+
+ /* Release interrupt pin on the device */
+ ret = pat9125_read_delta(data);
+
+ /* iio_trigger_detach_poll_func isn't reachable, so use this function */
+ if (ret)
+ ret = iio_triggered_buffer_predisable(indio_dev);
+
+ return ret;
+}
+
+static const struct iio_buffer_setup_ops pat9125_buffer_ops = {
+ .postenable = pat9125_buffer_postenable,
+};
+
+static const struct regmap_config pat9125_regmap_config = {
+ .reg_bits = 8,
+ .val_bits = 8,
+};
+
+static const struct iio_info pat9125_info = {
+ .read_raw = pat9125_read_raw,
+ .write_raw = pat9125_write_raw,
+};
+
+/*
+ * To detect if a new value is available, register status is checked. This
+ * method is safer than using a flag on GPIO IRQ to track event while sampling
+ * because falling edge is missed when device trig just after a read reg value
+ * (that happen for fast motions or high CPI setting).
+ *
+ * Note: To avoid infinite loop in "iio_trigger_notify_done" when it is not in
+ * buffer mode and kernel warning due to nested IRQ thread,
+ * this function must return 0.
+ */
+static int pat9125_trig_try_reenable(struct iio_trigger *trig)
+{
+ struct pat9125_data *data = iio_trigger_get_drvdata(trig);
+ struct regmap *regmap = data->regmap;
+ int status = 0;
+
+ if (data->sampling) {
+ regmap_read(regmap, PAT9125_MOTION_STATUS_REG, &status);
+ if (status & PAT9125_VALID_MOTION_DATA_BIT) {
+ data->sampling = false;
+ iio_trigger_poll_chained(data->indio_trig);
+ return 0;
+ }
+ }
+ data->sampling = false;
+ return 0;
+}
+
+static const struct iio_trigger_ops pat9125_trigger_ops = {
+ .try_reenable = pat9125_trig_try_reenable,
+};
+
+static int pat9125_probe(struct i2c_client *client,
+ const struct i2c_device_id *id)
+{
+ struct pat9125_data *data;
+ struct iio_dev *indio_dev;
+ int ret, sensor_pid;
+
+ indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+ if (!indio_dev) {
+ dev_err(&client->dev, "IIO device allocation failed\n");
+ return -ENOMEM;
+ }
+
+ data = iio_priv(indio_dev);
+ indio_dev->dev.parent = &client->dev;
+ indio_dev->name = id->name;
+ indio_dev->channels = pat9125_channels;
+ indio_dev->num_channels = ARRAY_SIZE(pat9125_channels);
+ indio_dev->info = &pat9125_info;
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ ret = devm_iio_triggered_buffer_setup(&client->dev, indio_dev, NULL,
+ pat9125_threaded_trigger_handler, &pat9125_buffer_ops);
+ if (ret) {
+ dev_err(&client->dev, "unable to setup triggered buffer\n");
+ return ret;
+ }
+
+ data->indio_trig = devm_iio_trigger_alloc(&client->dev, "%s-dev%d",
+ indio_dev->name, indio_dev->id);
+ if (!data->indio_trig)
+ return -ENOMEM;
+ data->indio_trig->dev.parent = &client->dev;
+ data->indio_trig->ops = &pat9125_trigger_ops;
+ iio_trigger_set_drvdata(data->indio_trig, data);
+ ret = devm_iio_trigger_register(&client->dev, data->indio_trig);
+ if (ret) {
+ dev_err(&client->dev, "unable to register trigger\n");
+ return ret;
+ }
+
+ data->regmap = devm_regmap_init_i2c(client, &pat9125_regmap_config);
+ if (IS_ERR(data->regmap)) {
+ dev_err(&client->dev, "regmap init failed %ld\n",
+ PTR_ERR(data->regmap));
+ return PTR_ERR(data->regmap);
+ }
+
+ /* Check device ID */
+ ret = regmap_read(data->regmap, PAT9125_PRD_ID1_REG, &sensor_pid);
+ if (ret < 0) {
+ dev_err(&client->dev, "register 0x%x access failed %d\n",
+ PAT9125_PRD_ID1_REG, ret);
+ return ret;
+ }
+ if (sensor_pid != PAT9125_SENSOR_ID_VAL)
+ return -ENODEV;
+
+ /* Switch to bank0 (Magic number)*/
+ ret = regmap_write(data->regmap, 0x7F, 0x00);
+ if (ret < 0) {
+ dev_err(indio_dev->dev.parent, "register 0x%x access failed %d\n",
+ 0x7F, ret);
+ return ret;
+ }
+
+ /* Software reset */
+ ret = regmap_write_bits(data->regmap,
+ PAT9125_CONFIG_REG,
+ PAT9125_RESET_BIT,
+ 1);
+ if (ret < 0) {
+ dev_err(&client->dev, "register 0x%x access failed %d\n",
+ PAT9125_CONFIG_REG, ret);
+ return ret;
+ }
+
+ msleep(20);
+
+ /* Init GPIO IRQ */
+ if (client->irq) {
+ ret = devm_request_threaded_irq(&client->dev,
+ client->irq,
+ NULL,
+ pat9125_threaded_event_handler,
+ IRQF_TRIGGER_FALLING | IRQF_ONESHOT,
+ "pat9125",
+ indio_dev);
+ if (ret) {
+ dev_err(&client->dev, "GPIO IRQ init failed\n");
+ return ret;
+ }
+ }
+
+ ret = devm_iio_device_register(&client->dev, indio_dev);
+ if (ret) {
+ dev_err(&client->dev, "IIO device register failed\n");
+ return ret;
+ }
+
+ return 0;
+}
+
+static const struct i2c_device_id pat9125_id[] = {
+ { "pat9125", 0 },
+ {}
+};
+MODULE_DEVICE_TABLE(i2c, pat9125_id);
+
+static const unsigned short normal_i2c[] = {
+ PAT9125_I2C_ADDR_HI,
+ PAT9125_I2C_ADDR_LO,
+ PAT9125_I2C_ADDR_NC,
+ I2C_CLIENT_END
+};
+
+static struct i2c_driver pat9125_driver = {
+ .driver = {
+ .name = "pat9125",
+ },
+ .probe = pat9125_probe,
+ .address_list = normal_i2c,
+ .id_table = pat9125_id,
+};
+
+module_i2c_driver(pat9125_driver);
+
+MODULE_AUTHOR("Alexandre Mergnat <amergnat@xxxxxxxxxxxx>");
+MODULE_DESCRIPTION("Optical Tracking sensor");
+MODULE_LICENSE("GPL");
--
2.17.1