1 // SPDX-License-Identifier: GPL-2.0+
3 * pulsedlight-lidar-lite-v2.c - Support for PulsedLight LIDAR sensor
5 * Copyright (C) 2015, 2017-2018
6 * Author: Matt Ranostay <matt.ranostay@konsulko.com>
8 * TODO: interrupt mode, and signal strength reporting
11 #include <linux/err.h>
12 #include <linux/init.h>
13 #include <linux/i2c.h>
14 #include <linux/delay.h>
15 #include <linux/module.h>
16 #include <linux/pm_runtime.h>
17 #include <linux/iio/iio.h>
18 #include <linux/iio/sysfs.h>
19 #include <linux/iio/buffer.h>
20 #include <linux/iio/trigger.h>
21 #include <linux/iio/triggered_buffer.h>
22 #include <linux/iio/trigger_consumer.h>
24 #define LIDAR_REG_CONTROL 0x00
25 #define LIDAR_REG_CONTROL_ACQUIRE BIT(2)
27 #define LIDAR_REG_STATUS 0x01
28 #define LIDAR_REG_STATUS_INVALID BIT(3)
29 #define LIDAR_REG_STATUS_READY BIT(0)
31 #define LIDAR_REG_DATA_HBYTE 0x0f
32 #define LIDAR_REG_DATA_LBYTE 0x10
33 #define LIDAR_REG_DATA_WORD_READ BIT(7)
35 #define LIDAR_REG_PWR_CONTROL 0x65
37 #define LIDAR_DRV_NAME "lidar"
40 struct iio_dev *indio_dev;
41 struct i2c_client *client;
43 int (*xfer)(struct lidar_data *data, u8 reg, u8 *val, int len);
46 /* Ensure timestamp is naturally aligned */
49 s64 timestamp __aligned(8);
53 static const struct iio_chan_spec lidar_channels[] = {
57 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
65 IIO_CHAN_SOFT_TIMESTAMP(1),
68 static int lidar_i2c_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
70 struct i2c_client *client = data->client;
71 struct i2c_msg msg[2];
74 msg[0].addr = client->addr;
75 msg[0].flags = client->flags | I2C_M_STOP;
77 msg[0].buf = (char *) ®
79 msg[1].addr = client->addr;
80 msg[1].flags = client->flags | I2C_M_RD;
82 msg[1].buf = (char *) val;
84 ret = i2c_transfer(client->adapter, msg, 2);
86 return (ret == 2) ? 0 : -EIO;
89 static int lidar_smbus_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
91 struct i2c_client *client = data->client;
95 * Device needs a STOP condition between address write, and data read
96 * so in turn i2c_smbus_read_byte_data cannot be used
100 ret = i2c_smbus_write_byte(client, reg++);
102 dev_err(&client->dev, "cannot write addr value");
106 ret = i2c_smbus_read_byte(client);
108 dev_err(&client->dev, "cannot read data value");
118 static int lidar_read_byte(struct lidar_data *data, u8 reg)
123 ret = data->xfer(data, reg, &val, 1);
130 static inline int lidar_write_control(struct lidar_data *data, int val)
132 return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val);
135 static inline int lidar_write_power(struct lidar_data *data, int val)
137 return i2c_smbus_write_byte_data(data->client,
138 LIDAR_REG_PWR_CONTROL, val);
141 static int lidar_read_measurement(struct lidar_data *data, u16 *reg)
143 int ret = data->xfer(data, LIDAR_REG_DATA_HBYTE |
144 (data->i2c_enabled ? LIDAR_REG_DATA_WORD_READ : 0),
148 *reg = be16_to_cpu(*reg);
153 static int lidar_get_measurement(struct lidar_data *data, u16 *reg)
155 struct i2c_client *client = data->client;
159 pm_runtime_get_sync(&client->dev);
162 ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE);
164 dev_err(&client->dev, "cannot send start measurement command");
165 pm_runtime_put_noidle(&client->dev);
170 usleep_range(1000, 2000);
172 ret = lidar_read_byte(data, LIDAR_REG_STATUS);
176 /* return -EINVAL since laser is likely pointed out of range */
177 if (ret & LIDAR_REG_STATUS_INVALID) {
183 /* sample ready to read */
184 if (!(ret & LIDAR_REG_STATUS_READY)) {
185 ret = lidar_read_measurement(data, reg);
190 pm_runtime_mark_last_busy(&client->dev);
191 pm_runtime_put_autosuspend(&client->dev);
196 static int lidar_read_raw(struct iio_dev *indio_dev,
197 struct iio_chan_spec const *chan,
198 int *val, int *val2, long mask)
200 struct lidar_data *data = iio_priv(indio_dev);
204 case IIO_CHAN_INFO_RAW: {
207 if (iio_device_claim_direct_mode(indio_dev))
210 ret = lidar_get_measurement(data, ®);
215 iio_device_release_direct_mode(indio_dev);
218 case IIO_CHAN_INFO_SCALE:
221 ret = IIO_VAL_INT_PLUS_MICRO;
228 static irqreturn_t lidar_trigger_handler(int irq, void *private)
230 struct iio_poll_func *pf = private;
231 struct iio_dev *indio_dev = pf->indio_dev;
232 struct lidar_data *data = iio_priv(indio_dev);
235 ret = lidar_get_measurement(data, &data->scan.chan);
237 iio_push_to_buffers_with_timestamp(indio_dev, &data->scan,
238 iio_get_time_ns(indio_dev));
239 } else if (ret != -EINVAL) {
240 dev_err(&data->client->dev, "cannot read LIDAR measurement");
243 iio_trigger_notify_done(indio_dev->trig);
248 static const struct iio_info lidar_info = {
249 .read_raw = lidar_read_raw,
252 static int lidar_probe(struct i2c_client *client,
253 const struct i2c_device_id *id)
255 struct lidar_data *data;
256 struct iio_dev *indio_dev;
259 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
262 data = iio_priv(indio_dev);
264 if (i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
265 data->xfer = lidar_i2c_xfer;
266 data->i2c_enabled = 1;
267 } else if (i2c_check_functionality(client->adapter,
268 I2C_FUNC_SMBUS_WORD_DATA | I2C_FUNC_SMBUS_BYTE))
269 data->xfer = lidar_smbus_xfer;
273 indio_dev->info = &lidar_info;
274 indio_dev->name = LIDAR_DRV_NAME;
275 indio_dev->channels = lidar_channels;
276 indio_dev->num_channels = ARRAY_SIZE(lidar_channels);
277 indio_dev->dev.parent = &client->dev;
278 indio_dev->modes = INDIO_DIRECT_MODE;
280 i2c_set_clientdata(client, indio_dev);
282 data->client = client;
283 data->indio_dev = indio_dev;
285 ret = iio_triggered_buffer_setup(indio_dev, NULL,
286 lidar_trigger_handler, NULL);
290 ret = iio_device_register(indio_dev);
292 goto error_unreg_buffer;
294 pm_runtime_set_autosuspend_delay(&client->dev, 1000);
295 pm_runtime_use_autosuspend(&client->dev);
297 ret = pm_runtime_set_active(&client->dev);
299 goto error_unreg_buffer;
300 pm_runtime_enable(&client->dev);
301 pm_runtime_idle(&client->dev);
306 iio_triggered_buffer_cleanup(indio_dev);
311 static int lidar_remove(struct i2c_client *client)
313 struct iio_dev *indio_dev = i2c_get_clientdata(client);
315 iio_device_unregister(indio_dev);
316 iio_triggered_buffer_cleanup(indio_dev);
318 pm_runtime_disable(&client->dev);
319 pm_runtime_set_suspended(&client->dev);
324 static const struct i2c_device_id lidar_id[] = {
325 {"lidar-lite-v2", 0},
326 {"lidar-lite-v3", 0},
329 MODULE_DEVICE_TABLE(i2c, lidar_id);
331 static const struct of_device_id lidar_dt_ids[] = {
332 { .compatible = "pulsedlight,lidar-lite-v2" },
333 { .compatible = "grmn,lidar-lite-v3" },
336 MODULE_DEVICE_TABLE(of, lidar_dt_ids);
339 static int lidar_pm_runtime_suspend(struct device *dev)
341 struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
342 struct lidar_data *data = iio_priv(indio_dev);
344 return lidar_write_power(data, 0x0f);
347 static int lidar_pm_runtime_resume(struct device *dev)
349 struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
350 struct lidar_data *data = iio_priv(indio_dev);
351 int ret = lidar_write_power(data, 0);
353 /* regulator and FPGA needs settling time */
354 usleep_range(15000, 20000);
360 static const struct dev_pm_ops lidar_pm_ops = {
361 SET_RUNTIME_PM_OPS(lidar_pm_runtime_suspend,
362 lidar_pm_runtime_resume, NULL)
365 static struct i2c_driver lidar_driver = {
367 .name = LIDAR_DRV_NAME,
368 .of_match_table = of_match_ptr(lidar_dt_ids),
371 .probe = lidar_probe,
372 .remove = lidar_remove,
373 .id_table = lidar_id,
375 module_i2c_driver(lidar_driver);
377 MODULE_AUTHOR("Matt Ranostay <matt.ranostay@konsulko.com>");
378 MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
379 MODULE_LICENSE("GPL");