Re: [PATCH v3] iio: proximity: Add driver support for ST's VL53L0X ToF ranging sensor.

[Song Qiang]

On Thu, Sep 13, 2018 at 12:05:51AM +0530, Himanshu Jha wrote:
> On Wed, Sep 12, 2018 at 10:20:34AM +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>
> 
> Very minor comments below that I missed in previous revisions.
> 
> Major reviews will come from Jonathan later...
> 
> > ---
> > Changes in v2:
> > 	- Clean up the register table.
> > 	- Sort header files declarations.
> > 	- Replace some bit definations with GENMASK() and BIT().
> > 	- Clean up some code and comments that's useless for now.
> > 	- Change the order of some the definations of some variables to reversed
> > 	  xmas tree order.
> > 	- Using do...while() rather while and check.
> > 	- Replace pr_err() with dev_err().
> > 	- Remove device id declaration since we recommend to use DT.
> > 	- Remove .owner = THIS_MODULE.
> > 	- Replace probe() with probe_new() hook.
> > 	- Remove IIO_BUFFER and IIO_TRIGGERED_BUFFER dependences.
> > 	- Change the driver module name to vl53l0x-i2c.
> > 	- Align all the parameters if they are in the same function with open
> > 	  parentheses.
> > 	- Replace iio_device_register() with devm_iio_device_register
> > 	  for better resource management.
> > 	- Remove the vl53l0x_remove() since it's not needed.
> > 	- Remove dev_set_drvdata() since it's already setted above.
> > 
> > Changes in v3:
> > 	- Recover ST's copyright.
> > 	- Clean up indio_dev member in vl53l0x_data struct since it's
> > 	  useless now.
> > 	- Replace __le16_to_cpu() with le16_to_cpu().
> > 	- Remove the iio_device_{claim|release}_direct_mode() since it's
> > 	  only needed when we use buffered mode.
> > 	- Clean up some coding style problems.
> > 
> >  .../bindings/iio/proximity/vl53l0x.txt        |  12 ++
> >  drivers/iio/proximity/Kconfig                 |  11 ++
> >  drivers/iio/proximity/Makefile                |   2 +
> >  drivers/iio/proximity/vl53l0x-i2c.c           | 184 ++++++++++++++++++
> >  4 files changed, 209 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..0f7f124a38ed
> > --- /dev/null
> > +++ b/drivers/iio/proximity/vl53l0x-i2c.c
> > @@ -0,0 +1,184 @@
> > +// SPDX-License-Identifier: GPL-2.0+
> > +/*
> > + *  Support for ST's VL53L0X FlightSense ToF Ranger Sensor on a i2c bus.
> > + *
> > + *  Copyright (C) 2016 STMicroelectronics Imaging Division.
> > + *  Copyright (C) 2018 Song Qiang <songqiang.1304521@xxxxxxxxx>
> 
> Datasheet link + i2c slave address can be put here.
> Look at other iio drivers.
> 
> > + */
> > +
> > +#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_MODE_MASK			GENMASK(3, 0)
> > +#define VL_REG_SYSRANGE_START				0x00
> > +#define VL_REG_SYSRANGE_MODE_SINGLESHOT			0x00
> > +#define VL_REG_SYSRANGE_MODE_START_STOP			BIT(0)
> > +#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_INTERMEASUREMENT_PERIOD		BIT(2)
> > +#define VL_REG_SYS_RANGE_CFG				0x09
> > +
> > +#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_OUT_OF_WINDOW		0x03
> > +#define VL_REG_SYS_INT_GPIO_NEW_SAMPLE_READY		BIT(2)
> > +#define VL_REG_SYS_INT_CFG_GPIO				0x0A
> > +#define VL_REG_SYS_INT_CLEAR				0x0B
> > +#define VL_REG_GPIO_HV_MUX_ACTIVE_HIGH			0x84
> > +
> > +#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
> 
> Make all capitals: 0xC2, 0xC0, 0x8A ...
> 
> > +struct vl53l0x_data {
> > +	struct i2c_client *client;
> > +};
> > +
> > +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]);
> > +
> > +	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),
> 
> Not required since no buffer/trigger support!
> 
> 
> 
> Thanks
> -- 
> Himanshu Jha
> Undergraduate Student
> Department of Electronics & Communication
> Guru Tegh Bahadur Institute of Technology

Hi Himanshu,

Thanks for the review and the problems you mentioned.
I think I'll just fix them and try not to make them again.
I'll wait for Jonathan and other maintainers reply patiently.

Thanks for your help and review!

yours,
Song Qiang