2 * pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor
4 * Copyright (C) 2015 Matt Ranostay <mranostay@gmail.com>
6 * This program is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
16 * TODO: interrupt mode, and signal strength reporting
19 #include <linux/err.h>
20 #include <linux/init.h>
21 #include <linux/i2c.h>
22 #include <linux/delay.h>
23 #include <linux/module.h>
24 #include <linux/pm_runtime.h>
25 #include <linux/iio/iio.h>
26 #include <linux/iio/sysfs.h>
27 #include <linux/iio/buffer.h>
28 #include <linux/iio/trigger.h>
29 #include <linux/iio/triggered_buffer.h>
30 #include <linux/iio/trigger_consumer.h>
32 #define LIDAR_REG_CONTROL 0x00
33 #define LIDAR_REG_CONTROL_ACQUIRE BIT(2)
35 #define LIDAR_REG_STATUS 0x01
36 #define LIDAR_REG_STATUS_INVALID BIT(3)
37 #define LIDAR_REG_STATUS_READY BIT(0)
39 #define LIDAR_REG_DATA_HBYTE 0x0f
40 #define LIDAR_REG_DATA_LBYTE 0x10
41 #define LIDAR_REG_DATA_WORD_READ BIT(7)
43 #define LIDAR_REG_PWR_CONTROL 0x65
45 #define LIDAR_DRV_NAME "lidar"
48 struct iio_dev *indio_dev;
49 struct i2c_client *client;
51 int (*xfer)(struct lidar_data *data, u8 reg, u8 *val, int len);
54 /* Ensure timestamp is naturally aligned */
57 s64 timestamp __aligned(8);
61 static const struct iio_chan_spec lidar_channels[] = {
65 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
73 IIO_CHAN_SOFT_TIMESTAMP(1),
76 static int lidar_i2c_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
78 struct i2c_client *client = data->client;
79 struct i2c_msg msg[2];
82 msg[0].addr = client->addr;
83 msg[0].flags = client->flags | I2C_M_STOP;
85 msg[0].buf = (char *) ®
87 msg[1].addr = client->addr;
88 msg[1].flags = client->flags | I2C_M_RD;
90 msg[1].buf = (char *) val;
92 ret = i2c_transfer(client->adapter, msg, 2);
94 return (ret == 2) ? 0 : -EIO;
97 static int lidar_smbus_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
99 struct i2c_client *client = data->client;
103 * Device needs a STOP condition between address write, and data read
104 * so in turn i2c_smbus_read_byte_data cannot be used
108 ret = i2c_smbus_write_byte(client, reg++);
110 dev_err(&client->dev, "cannot write addr value");
114 ret = i2c_smbus_read_byte(client);
116 dev_err(&client->dev, "cannot read data value");
126 static int lidar_read_byte(struct lidar_data *data, u8 reg)
131 ret = data->xfer(data, reg, &val, 1);
138 static inline int lidar_write_control(struct lidar_data *data, int val)
140 return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val);
143 static inline int lidar_write_power(struct lidar_data *data, int val)
145 return i2c_smbus_write_byte_data(data->client,
146 LIDAR_REG_PWR_CONTROL, val);
149 static int lidar_read_measurement(struct lidar_data *data, u16 *reg)
151 int ret = data->xfer(data, LIDAR_REG_DATA_HBYTE |
152 (data->i2c_enabled ? LIDAR_REG_DATA_WORD_READ : 0),
156 *reg = be16_to_cpu(*reg);
161 static int lidar_get_measurement(struct lidar_data *data, u16 *reg)
163 struct i2c_client *client = data->client;
167 pm_runtime_get_sync(&client->dev);
170 ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE);
172 dev_err(&client->dev, "cannot send start measurement command");
173 pm_runtime_put_noidle(&client->dev);
178 usleep_range(1000, 2000);
180 ret = lidar_read_byte(data, LIDAR_REG_STATUS);
184 /* return -EINVAL since laser is likely pointed out of range */
185 if (ret & LIDAR_REG_STATUS_INVALID) {
191 /* sample ready to read */
192 if (!(ret & LIDAR_REG_STATUS_READY)) {
193 ret = lidar_read_measurement(data, reg);
198 pm_runtime_mark_last_busy(&client->dev);
199 pm_runtime_put_autosuspend(&client->dev);
204 static int lidar_read_raw(struct iio_dev *indio_dev,
205 struct iio_chan_spec const *chan,
206 int *val, int *val2, long mask)
208 struct lidar_data *data = iio_priv(indio_dev);
212 case IIO_CHAN_INFO_RAW: {
215 if (iio_device_claim_direct_mode(indio_dev))
218 ret = lidar_get_measurement(data, ®);
223 iio_device_release_direct_mode(indio_dev);
226 case IIO_CHAN_INFO_SCALE:
229 ret = IIO_VAL_INT_PLUS_MICRO;
236 static irqreturn_t lidar_trigger_handler(int irq, void *private)
238 struct iio_poll_func *pf = private;
239 struct iio_dev *indio_dev = pf->indio_dev;
240 struct lidar_data *data = iio_priv(indio_dev);
243 ret = lidar_get_measurement(data, &data->scan.chan);
245 iio_push_to_buffers_with_timestamp(indio_dev, &data->scan,
246 iio_get_time_ns(indio_dev));
247 } else if (ret != -EINVAL) {
248 dev_err(&data->client->dev, "cannot read LIDAR measurement");
251 iio_trigger_notify_done(indio_dev->trig);
256 static const struct iio_info lidar_info = {
257 .driver_module = THIS_MODULE,
258 .read_raw = lidar_read_raw,
261 static int lidar_probe(struct i2c_client *client,
262 const struct i2c_device_id *id)
264 struct lidar_data *data;
265 struct iio_dev *indio_dev;
268 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
271 data = iio_priv(indio_dev);
273 if (i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
274 data->xfer = lidar_i2c_xfer;
275 data->i2c_enabled = 1;
276 } else if (i2c_check_functionality(client->adapter,
277 I2C_FUNC_SMBUS_WORD_DATA | I2C_FUNC_SMBUS_BYTE))
278 data->xfer = lidar_smbus_xfer;
282 indio_dev->info = &lidar_info;
283 indio_dev->name = LIDAR_DRV_NAME;
284 indio_dev->channels = lidar_channels;
285 indio_dev->num_channels = ARRAY_SIZE(lidar_channels);
286 indio_dev->dev.parent = &client->dev;
287 indio_dev->modes = INDIO_DIRECT_MODE;
289 i2c_set_clientdata(client, indio_dev);
291 data->client = client;
292 data->indio_dev = indio_dev;
294 ret = iio_triggered_buffer_setup(indio_dev, NULL,
295 lidar_trigger_handler, NULL);
299 ret = iio_device_register(indio_dev);
301 goto error_unreg_buffer;
303 pm_runtime_set_autosuspend_delay(&client->dev, 1000);
304 pm_runtime_use_autosuspend(&client->dev);
306 ret = pm_runtime_set_active(&client->dev);
308 goto error_unreg_buffer;
309 pm_runtime_enable(&client->dev);
310 pm_runtime_idle(&client->dev);
315 iio_triggered_buffer_cleanup(indio_dev);
320 static int lidar_remove(struct i2c_client *client)
322 struct iio_dev *indio_dev = i2c_get_clientdata(client);
324 iio_device_unregister(indio_dev);
325 iio_triggered_buffer_cleanup(indio_dev);
327 pm_runtime_disable(&client->dev);
328 pm_runtime_set_suspended(&client->dev);
333 static const struct i2c_device_id lidar_id[] = {
334 {"lidar-lite-v2", 0},
335 {"lidar-lite-v3", 0},
338 MODULE_DEVICE_TABLE(i2c, lidar_id);
340 static const struct of_device_id lidar_dt_ids[] = {
341 { .compatible = "pulsedlight,lidar-lite-v2" },
342 { .compatible = "grmn,lidar-lite-v3" },
345 MODULE_DEVICE_TABLE(of, lidar_dt_ids);
348 static int lidar_pm_runtime_suspend(struct device *dev)
350 struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
351 struct lidar_data *data = iio_priv(indio_dev);
353 return lidar_write_power(data, 0x0f);
356 static int lidar_pm_runtime_resume(struct device *dev)
358 struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
359 struct lidar_data *data = iio_priv(indio_dev);
360 int ret = lidar_write_power(data, 0);
362 /* regulator and FPGA needs settling time */
363 usleep_range(15000, 20000);
369 static const struct dev_pm_ops lidar_pm_ops = {
370 SET_RUNTIME_PM_OPS(lidar_pm_runtime_suspend,
371 lidar_pm_runtime_resume, NULL)
374 static struct i2c_driver lidar_driver = {
376 .name = LIDAR_DRV_NAME,
377 .of_match_table = of_match_ptr(lidar_dt_ids),
380 .probe = lidar_probe,
381 .remove = lidar_remove,
382 .id_table = lidar_id,
384 module_i2c_driver(lidar_driver);
386 MODULE_AUTHOR("Matt Ranostay <mranostay@gmail.com>");
387 MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
388 MODULE_LICENSE("GPL");