Re: [PATCH v2] iio: proximity: Add driver support for ST's VL53L0X ToF ranging sensor.

[Himanshu Jha]

Hi Song,

On Tue, Sep 11, 2018 at 03:53:57PM +0800, Song Qiang wrote:
> This driver was originally written by ST in 2016 as a misc input device
> driver, and hasn't been maintained for a long time. I grabbed some code
> from it's API and reformed it into a iio proximity device driver.
> This version of driver uses i2c bus to talk to the sensor and
> polling for measuring completes, so no irq line is needed.
> This version of driver supports only one-shot mode, and it can be
> tested with reading from
> /sys/bus/iio/devices/iio:deviceX/in_distance_raw
> 
> Signed-off-by: Song Qiang <songqiang.1304521@xxxxxxxxx>
> ---
>  .../bindings/iio/proximity/vl53l0x.txt        |  12 ++
>  drivers/iio/proximity/Kconfig                 |  11 +
>  drivers/iio/proximity/Makefile                |   2 +
>  drivers/iio/proximity/vl53l0x-i2c.c           | 196 ++++++++++++++++++
>  4 files changed, 221 insertions(+)
>  create mode 100644 Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
>  create mode 100644 drivers/iio/proximity/vl53l0x-i2c.c
> 
> diff --git a/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
> new file mode 100644
> index 000000000000..64b69442f08e
> --- /dev/null
> +++ b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
> @@ -0,0 +1,12 @@
> +ST's VL53L0X ToF ranging sensor
> +
> +Required properties:
> +	- compatible: must be "st,vl53l0x-i2c"
> +	- reg: i2c address where to find the device
> +
> +Example:
> +
> +vl53l0x@29 {
> +	compatible = "st,vl53l0x-i2c";
> +	reg = <0x29>;
> +};
> diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
> index f726f9427602..5f421cbd37f3 100644
> --- a/drivers/iio/proximity/Kconfig
> +++ b/drivers/iio/proximity/Kconfig
> @@ -79,4 +79,15 @@ config SRF08
>  	  To compile this driver as a module, choose M here: the
>  	  module will be called srf08.
>  
> +config VL53L0X_I2C
> +	tristate "STMicroelectronics VL53L0X ToF ranger sensor (I2C)"
> +	depends on I2C
> +	help
> +	  Say Y here to build a driver for STMicroelectronics VL53L0X
> +	  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 vl53l0x-i2c.
> +
>  endmenu
> diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile
> index 4f4ed45e87ef..dedfb5bf3475 100644
> --- a/drivers/iio/proximity/Makefile
> +++ b/drivers/iio/proximity/Makefile
> @@ -10,3 +10,5 @@ obj-$(CONFIG_RFD77402)		+= rfd77402.o
>  obj-$(CONFIG_SRF04)		+= srf04.o
>  obj-$(CONFIG_SRF08)		+= srf08.o
>  obj-$(CONFIG_SX9500)		+= sx9500.o
> +obj-$(CONFIG_VL53L0X_I2C)	+= vl53l0x-i2c.o
> +
> diff --git a/drivers/iio/proximity/vl53l0x-i2c.c b/drivers/iio/proximity/vl53l0x-i2c.c
> new file mode 100644
> index 000000000000..4eac40353494
> --- /dev/null
> +++ b/drivers/iio/proximity/vl53l0x-i2c.c
> @@ -0,0 +1,196 @@
> +// SPDX-License-Identifier: GPL-2.0+
> +/*
> + *  Support for ST's VL53L0X FlightSense ToF Ranger Sensor on a i2c bus.
> + *
> + *  Copyright (C) 2018 Song Qiang <songqiang.1304521@xxxxxxxxx>
> + *

Andy suggested to remove this emty line and not ST copyright.

So, be careful or .... "Better Call Saul" ;)

> +
> +#include <linux/delay.h>
> +#include <linux/i2c.h>
> +#include <linux/iio/iio.h>
> +#include <linux/kernel.h>
> +#include <linux/module.h>
> +#include <linux/slab.h>
> +
> +#define VL53L0X_DRV_NAME				"vl53l0x-i2c"
> +
> +#define VL_REG_SYSRANGE_START				0x00
> +#define VL_REG_SYSRANGE_MODE_MASK			GENMASK(3, 0)
> +#define VL_REG_SYSRANGE_MODE_START_STOP			BIT(0)
> +#define VL_REG_SYSRANGE_MODE_SINGLESHOT			0x00
> +#define VL_REG_SYSRANGE_MODE_BACKTOBACK			BIT(1)
> +#define VL_REG_SYSRANGE_MODE_TIMED			BIT(2)
> +#define VL_REG_SYSRANGE_MODE_HISTOGRAM			BIT(3)
> +
> +#define VL_REG_SYS_SEQUENCE_CFG				BIT(0)
> +#define VL_REG_SYS_RANGE_CFG				0x09
> +#define VL_REG_SYS_INTERMEASUREMENT_PERIOD		BIT(2)
> +
> +#define VL_REG_SYS_INT_CFG_GPIO				0x0A
> +#define VL_REG_SYS_INT_GPIO_DISABLED			0x00
> +#define VL_REG_SYS_INT_GPIO_LEVEL_LOW			BIT(0)
> +#define VL_REG_SYS_INT_GPIO_LEVEL_HIGH			BIT(1)
> +#define VL_REG_SYS_INT_GPIO_NEW_SAMPLE_READY		BIT(2)
> +#define VL_REG_SYS_INT_GPIO_OUT_OF_WINDOW		0x03
> +#define VL_REG_GPIO_HV_MUX_ACTIVE_HIGH			0x84
> +#define VL_REG_SYS_INT_CLEAR				0x0B
> +
> +#define VL_REG_RESULT_INT_STATUS			0x13
> +#define VL_REG_RESULT_RANGE_STATUS			0x14
> +#define VL_REG_RESULT_RANGE_SATTUS_COMPLETE		BIT(0)
> +
> +#define VL_REG_I2C_SLAVE_DEVICE_ADDRESS			0x8a
> +
> +#define VL_REG_IDENTIFICATION_MODEL_ID			0xc0
> +#define VL_REG_IDENTIFICATION_REVISION_ID		0xc2
> +
> +struct vl53l0x_data {
> +	struct i2c_client *client;
> +	struct iio_dev *indio_dev;

This is not required in this private struct.
Not sure though...

> +};
> +
> +static int vl53l0x_read_proximity(struct vl53l0x_data *data,
> +				  const struct iio_chan_spec *chan,
> +				  int *val)
> +{
> +	u8 write_command = VL_REG_RESULT_RANGE_STATUS;
> +	struct i2c_client *client = data->client;
> +	unsigned int tries = 20;
> +	struct i2c_msg msg[2];
> +	u8 buffer[12];
> +	int ret;
> +
> +	ret = i2c_smbus_write_byte_data(data->client,
> +					VL_REG_SYSRANGE_START, 1);
> +	if (ret < 0)
> +		return ret;
> +
> +	do {
> +		ret = i2c_smbus_read_byte_data(data->client,
> +					       VL_REG_RESULT_RANGE_STATUS);
> +		if (ret < 0)
> +			return ret;
> +
> +		if (ret & VL_REG_RESULT_RANGE_SATTUS_COMPLETE)
> +			break;
> +
> +		usleep_range(1000, 5000);
> +	} while (tries--);
> +	if (!tries)
> +		return -ETIMEDOUT;
> +
> +	msg[0].addr = client->addr;
> +	msg[0].buf = &write_command;
> +	msg[0].len = 1;
> +	msg[0].flags = client->flags | I2C_M_STOP;
> +
> +	msg[1].addr = client->addr;
> +	msg[1].buf = buffer;
> +	msg[1].len = 12;
> +	msg[1].flags = client->flags | I2C_M_RD;
> +
> +	ret = i2c_transfer(client->adapter, msg, 2);
> +	if (ret < 0)
> +		return ret;
> +	else if (ret != 2)
> +		dev_err(&data->client->dev, "vl53l0x: consecutively read error. ");
> +
> +	*val = __le16_to_cpu((buffer[10] << 8) + buffer[11]);

IIRC  __le/be _* shouldn't be directly used and instead use
le16_to_cpu(). Let it decide the byte order unwrapping to
be done.

> +	return 0;
> +}
> +
> +static const struct iio_chan_spec vl53l0x_channels[] = {
> +	{
> +		.type = IIO_DISTANCE,
> +		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
> +	},
> +	IIO_CHAN_SOFT_TIMESTAMP(1),
> +};
> +
> +static int vl53l0x_read_raw(struct iio_dev *indio_dev,
> +			    const struct iio_chan_spec *chan,
> +			    int *val, int *val2, long mask)
> +{
> +	struct vl53l0x_data *data = iio_priv(indio_dev);
> +	int ret;
> +
> +	if (chan->type != IIO_DISTANCE) {
> +		dev_err(&data->client->dev, "vl53l0x: iio type error");
> +		return -EINVAL;
> +	}
> +
> +	switch (mask) {
> +	case IIO_CHAN_INFO_RAW:
> +		ret = iio_device_claim_direct_mode(indio_dev);

You don't have any other buffer/trigger support for now and I believe
there is no need to claim direct mode.

> +		if (ret)
> +			return ret;
> +		ret = vl53l0x_read_proximity(data, chan, val);
> +		if (ret < 0)
> +			dev_err(&data->client->dev,
> +				"vl53l0x: raw value read error with %d", ret);
> +
> +		ret = IIO_VAL_INT;
> +		iio_device_release_direct_mode(indio_dev);
> +		return ret;
> +	default:
> +		dev_err(&data->client->dev, "vl53l0x: IIO_CHAN_* not recognzed.");
> +		return -EINVAL;
> +	}
> +}
> +
> +static const struct iio_info vl53l0x_info = {
> +	.read_raw = vl53l0x_read_raw,
> +};
> +
> +static int vl53l0x_probe(struct i2c_client *client)
> +{
> +	struct vl53l0x_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);
> +	data->client = client;
> +	data->indio_dev = indio_dev;

Is this required ?

> +	i2c_set_clientdata(client, indio_dev);
> +
> +	if (!i2c_check_functionality(client->adapter,
> +				     I2C_FUNC_SMBUS_BYTE_DATA | I2C_FUNC_I2C))
> +		return -EOPNOTSUPP;
> +
> +	indio_dev->dev.parent = &client->dev;
> +	indio_dev->name = VL53L0X_DRV_NAME;
> +	indio_dev->info = &vl53l0x_info;
> +	indio_dev->channels = vl53l0x_channels;
> +	indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels);
> +	indio_dev->modes = INDIO_DIRECT_MODE;
> +
> +	ret = devm_iio_device_register(&client->dev, indio_dev);

	return devm_iio_device_register(&client->dev, indio_dev);

> +	if (ret)
> +		return ret;
> +
> +	return 0;
> +}

Do you have the sensor and are these patches tested ?
Just curious!

Thanks
-- 
Himanshu Jha
Undergraduate Student
Department of Electronics & Communication
Guru Tegh Bahadur Institute of Technology