[PATCH 2/2] iio: distance: srf08: add IIO driver for us ranger

[Andreas Klinger]

This is the IIO driver for devantech srf08 ultrasonic ranger which can be
used to measure the distances to an object.

The sensor supports I2C with some registers.

Supported Features include:
- read the distance in ranging mode in centimeters
- output of the driver is directly the read value
- together with the scale the driver delivers the distance in meters
- only the first echo of the nearest object is delivered
- set max gain register; userspace enters analogue value
- set range registers; userspace enters range in millimeters in 43 mm steps

Features not supported by this driver:
- ranging mode in inches or in microseconds
- ANN mode
- change I2C address through this driver
- light sensor

The driver was added in the directory "proximity" of the iio subsystem
in absence of another directory named "distance".
There is also a new submenu "distance"

Signed-off-by: Andreas Klinger <ak@xxxxxxxxxxxxx>
---
 drivers/iio/proximity/Kconfig  |  15 ++
 drivers/iio/proximity/Makefile |   1 +
 drivers/iio/proximity/srf08.c  | 345 +++++++++++++++++++++++++++++++++++++++++
 3 files changed, 361 insertions(+)
 create mode 100644 drivers/iio/proximity/srf08.c

diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
index ef4c73db5b53..7b10a137702b 100644
--- a/drivers/iio/proximity/Kconfig
+++ b/drivers/iio/proximity/Kconfig
@@ -46,3 +46,18 @@ config SX9500
 	  module will be called sx9500.
 
 endmenu
+
+menu "Distance sensors"
+
+config SRF08
+	tristate "Devantech SRF08 ultrasonic ranger sensor"
+	depends on I2C
+	help
+	  Say Y here to build a driver for Devantech SRF08 ultrasonic
+	  ranger sensor. 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 srf08.
+
+endmenu
diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile
index 9aadd9a8ee99..14d8fe4e5cae 100644
--- a/drivers/iio/proximity/Makefile
+++ b/drivers/iio/proximity/Makefile
@@ -6,3 +6,4 @@
 obj-$(CONFIG_AS3935)		+= as3935.o
 obj-$(CONFIG_LIDAR_LITE_V2)	+= pulsedlight-lidar-lite-v2.o
 obj-$(CONFIG_SX9500)		+= sx9500.o
+obj-$(CONFIG_SRF08)		+= srf08.o
diff --git a/drivers/iio/proximity/srf08.c b/drivers/iio/proximity/srf08.c
new file mode 100644
index 000000000000..a888a230b419
--- /dev/null
+++ b/drivers/iio/proximity/srf08.c
@@ -0,0 +1,345 @@
+/*
+ * srf08.c - Support for Devantech SRF08 ultrasonic ranger
+ *
+ * Copyright (c) 2016 Andreas Klinger <ak@xxxxxxxxxxxxx>
+ *
+ * This file is subject to the terms and conditions of version 2 of
+ * the GNU General Public License.  See the file COPYING in the main
+ * directory of this archive for more details.
+ *
+ * For details about the device see:
+ * http://www.robot-electronics.co.uk/htm/srf08tech.html
+ */
+
+#include <linux/err.h>
+#include <linux/i2c.h>
+#include <linux/delay.h>
+#include <linux/module.h>
+#include <linux/bitops.h>
+#include <linux/iio/iio.h>
+#include <linux/iio/sysfs.h>
+
+/* registers of SRF08 device */
+#define SRF08_WRITE_COMMAND	0x00	/* Command Register */
+#define SRF08_WRITE_MAX_GAIN	0x01	/* Max Gain Register: 0 .. 31 */
+#define SRF08_WRITE_RANGE	0x02	/* Range Register: 0 .. 255 */
+#define SRF08_READ_SW_REVISION	0x00	/* Software Revision */
+#define SRF08_READ_LIGHT	0x01	/* Light Sensor during last echo */
+#define SRF08_READ_ECHO_1_HIGH	0x02	/* range of first echo received */
+#define SRF08_READ_ECHO_1_LOW	0x03	/* range of first echo received */
+
+#define SRF08_CMD_RANGING_CM	0x51	/* Ranging Mode - Result in cm */
+
+struct srf08_data {
+	struct i2c_client	*client;
+	int			gain;			/* max gain */
+	int			range_mm;		/* range in mm */
+	struct mutex		lock;
+};
+
+static const int srf08_gain[] = {
+	 94,  97, 100, 103, 107, 110, 114, 118,
+	123, 128, 133, 139, 145, 152, 159, 168,
+	177, 187, 199, 212, 227, 245, 265, 288,
+	317, 352, 395, 450, 524, 626, 777, 1025 };
+
+static int srf08_read_ranging(struct srf08_data *data)
+{
+	struct i2c_client *client = data->client;
+	char cmd[2];
+	int ret, i;
+
+	mutex_lock(&data->lock);
+
+	ret = i2c_smbus_write_byte_data(data->client,
+			SRF08_WRITE_COMMAND, SRF08_CMD_RANGING_CM);
+	if (ret < 0) {
+		dev_err(&client->dev, "write command - err: %d\n", ret);
+		mutex_unlock(&data->lock);
+		return ret;
+	}
+
+	/*
+	 * normally after 65 ms the device should have the read value
+	 * we round it up to 100 ms
+	 */
+	for (i = 0; i < 5; i++) {
+
+		ret = i2c_smbus_read_byte_data(data->client,
+						SRF08_READ_SW_REVISION);
+
+		/* check if a valid version number is read */
+		if ((ret < 255) && (ret > 0))
+			break;
+		msleep(20);
+	}
+
+	if ((ret >= 255) || (ret <= 0)) {
+		dev_err(&client->dev, "device not ready\n");
+		mutex_unlock(&data->lock);
+		return -EIO;
+	}
+
+	memset(cmd, 0, sizeof(cmd));
+
+	for (i = 0; i < 2; i++) {
+		ret = i2c_smbus_read_byte_data(data->client,
+						SRF08_READ_ECHO_1_HIGH + i);
+		cmd[i] = ret;
+	}
+
+	mutex_unlock(&data->lock);
+
+	return (cmd[0] << 8 | cmd[1]);
+}
+
+static int srf08_read_raw(struct iio_dev *indio_dev,
+			    struct iio_chan_spec const *channel, int *val,
+			    int *val2, long mask)
+{
+	struct srf08_data *data = iio_priv(indio_dev);
+	s32 ret;
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		if (channel->type == IIO_DISTANCE) {
+			ret = srf08_read_ranging(data);
+			*val = ret;
+		} else {
+			break;
+		}
+		return IIO_VAL_INT;
+	case IIO_CHAN_INFO_SCALE:
+		if (channel->type == IIO_DISTANCE) {
+			/* 1 LSB is 1 cm */
+			*val = 0;
+			*val2 = 10000;
+		} else {
+			break;
+		}
+		return IIO_VAL_INT_PLUS_MICRO;
+	default:
+		break;
+	}
+
+	return -EINVAL;
+}
+
+static ssize_t srf08_show_range_mm_available(struct device *dev,
+				struct device_attribute *attr, char *buf)
+{
+	int i, len = 0;
+
+	for (i = 0; i < 256; i++)
+		len += sprintf(buf + len, "%d ", (i + 1) * 43);
+
+	len += sprintf(buf + len, "\n");
+
+	return len;
+}
+
+static IIO_DEVICE_ATTR(range_mm_available, S_IRUGO,
+				srf08_show_range_mm_available, NULL, 0);
+
+static ssize_t srf08_show_range_mm(struct device *dev,
+				struct device_attribute *attr, char *buf)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct srf08_data *data = iio_priv(indio_dev);
+	int len;
+
+	len = sprintf(buf, "%d\n", data->range_mm);
+
+	return len;
+}
+
+static ssize_t srf08_write_range_mm(struct device *dev,
+					struct device_attribute *attr,
+					const char *buf, size_t len)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct srf08_data *data = iio_priv(indio_dev);
+	struct i2c_client *client = data->client;
+	int ret, val;
+	int regval = -1;
+	int mod;
+
+	ret = kstrtoint(buf, 10, &val);
+	if (ret)
+		return ret;
+
+	regval = val / 43 - 1;
+	mod = val % 43;
+
+	if (mod || (regval < 0) || (regval > 255))
+		return -EINVAL;
+
+	mutex_lock(&data->lock);
+
+	ret = i2c_smbus_write_byte_data(data->client,
+						SRF08_WRITE_RANGE, regval);
+	if (ret < 0) {
+		dev_err(&client->dev, "write_range - err: %d\n", ret);
+		mutex_unlock(&data->lock);
+		return ret;
+	}
+
+	data->range_mm = val;
+
+	mutex_unlock(&data->lock);
+
+	return len;
+}
+
+static IIO_DEVICE_ATTR(range_mm, S_IRUGO | S_IWUSR,
+			srf08_show_range_mm, srf08_write_range_mm, 0);
+
+static ssize_t srf08_show_gain_available(struct device *dev,
+				struct device_attribute *attr, char *buf)
+{
+	int i, len = 0;
+
+	for (i = 0; i < ARRAY_SIZE(srf08_gain); i++)
+		len += sprintf(buf + len, "%d ", srf08_gain[i]);
+
+	len += sprintf(buf + len, "\n");
+
+	return len;
+}
+
+static IIO_DEVICE_ATTR(gain_available, S_IRUGO,
+				srf08_show_gain_available, NULL, 0);
+
+static ssize_t srf08_show_gain(struct device *dev,
+				struct device_attribute *attr, char *buf)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct srf08_data *data = iio_priv(indio_dev);
+	int len;
+
+	len = sprintf(buf, "%d\n", data->gain);
+
+	return len;
+}
+
+static ssize_t srf08_write_gain(struct device *dev,
+						struct device_attribute *attr,
+						const char *buf, size_t len)
+{
+	struct iio_dev *indio_dev = dev_to_iio_dev(dev);
+	struct srf08_data *data = iio_priv(indio_dev);
+	struct i2c_client *client = data->client;
+	int ret, val, i;
+	int regval = -1;
+
+	ret = kstrtoint(buf, 10, &val);
+	if (ret)
+		return ret;
+
+	for (i = 0; i < ARRAY_SIZE(srf08_gain); i++)
+		if (val == srf08_gain[i])
+			regval = i;
+
+	if (regval == -1)
+		return -EINVAL;
+
+	mutex_lock(&data->lock);
+
+	ret = i2c_smbus_write_byte_data(data->client,
+						SRF08_WRITE_MAX_GAIN, regval);
+	if (ret < 0) {
+		dev_err(&client->dev, "write_gain - err: %d\n", ret);
+		mutex_unlock(&data->lock);
+		return ret;
+	}
+
+	data->gain = val;
+
+	mutex_unlock(&data->lock);
+
+	return len;
+}
+
+static IIO_DEVICE_ATTR(gain, S_IRUGO | S_IWUSR,
+					srf08_show_gain, srf08_write_gain, 0);
+
+static struct attribute *srf08_attributes[] = {
+	&iio_dev_attr_range_mm.dev_attr.attr,
+	&iio_dev_attr_range_mm_available.dev_attr.attr,
+	&iio_dev_attr_gain.dev_attr.attr,
+	&iio_dev_attr_gain_available.dev_attr.attr,
+	NULL,
+};
+
+static const struct attribute_group srf08_attribute_group = {
+	.attrs = srf08_attributes,
+};
+
+static const struct iio_chan_spec srf08_channels[] = {
+	{
+		.type = IIO_DISTANCE,
+		.info_mask_separate =
+				BIT(IIO_CHAN_INFO_RAW) |
+				BIT(IIO_CHAN_INFO_SCALE),
+	},
+};
+
+static const struct iio_info srf08_info = {
+	.read_raw = srf08_read_raw,
+	.attrs = &srf08_attribute_group,
+	.driver_module = THIS_MODULE,
+};
+
+static int srf08_probe(struct i2c_client *client,
+					 const struct i2c_device_id *id)
+{
+	struct iio_dev *indio_dev;
+	struct srf08_data *data;
+
+	if (!i2c_check_functionality(client->adapter,
+					I2C_FUNC_SMBUS_READ_BYTE_DATA |
+					I2C_FUNC_SMBUS_WRITE_BYTE_DATA))
+		return -ENODEV;
+
+	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	data = iio_priv(indio_dev);
+	i2c_set_clientdata(client, indio_dev);
+	data->client = client;
+
+	/* set default values of device */
+	data->gain = 1025;
+	data->range_mm = 11008;
+
+	indio_dev->name = dev_name(&client->dev);
+	indio_dev->dev.parent = &client->dev;
+	indio_dev->modes = INDIO_DIRECT_MODE;
+	indio_dev->info = &srf08_info;
+	indio_dev->channels = srf08_channels;
+	indio_dev->num_channels = ARRAY_SIZE(srf08_channels);
+
+	mutex_init(&data->lock);
+
+	return devm_iio_device_register(&client->dev, indio_dev);
+}
+
+static const struct i2c_device_id srf08_id[] = {
+	{ "srf08", 0 },
+	{ }
+};
+MODULE_DEVICE_TABLE(i2c, srf08_id);
+
+static struct i2c_driver srf08_driver = {
+	.driver = {
+		.name	= "srf08",
+	},
+	.probe = srf08_probe,
+	.id_table = srf08_id,
+};
+module_i2c_driver(srf08_driver);
+
+MODULE_AUTHOR("Andreas Klinger <ak@xxxxxxxxxxxxx>");
+MODULE_DESCRIPTION("Devantech SRF08 ultrasonic ranger driver");
+MODULE_LICENSE("GPL");
-- 
2.1.4