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/mod_devicetable.h>
17 #include <linux/pm_runtime.h>
18 #include <linux/iio/iio.h>
19 #include <linux/iio/sysfs.h>
20 #include <linux/iio/buffer.h>
21 #include <linux/iio/trigger.h>
22 #include <linux/iio/triggered_buffer.h>
23 #include <linux/iio/trigger_consumer.h>
25 #define LIDAR_REG_CONTROL 0x00
26 #define LIDAR_REG_CONTROL_ACQUIRE BIT(2)
28 #define LIDAR_REG_STATUS 0x01
29 #define LIDAR_REG_STATUS_INVALID BIT(3)
30 #define LIDAR_REG_STATUS_READY BIT(0)
32 #define LIDAR_REG_DATA_HBYTE 0x0f
33 #define LIDAR_REG_DATA_LBYTE 0x10
34 #define LIDAR_REG_DATA_WORD_READ BIT(7)
36 #define LIDAR_REG_PWR_CONTROL 0x65
38 #define LIDAR_DRV_NAME "lidar"
41 struct iio_dev *indio_dev;
42 struct i2c_client *client;
44 int (*xfer)(struct lidar_data *data, u8 reg, u8 *val, int len);
47 /* Ensure timestamp is naturally aligned */
50 s64 timestamp __aligned(8);
54 static const struct iio_chan_spec lidar_channels[] = {
58 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
66 IIO_CHAN_SOFT_TIMESTAMP(1),
69 static int lidar_i2c_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
71 struct i2c_client *client = data->client;
72 struct i2c_msg msg[2];
75 msg[0].addr = client->addr;
76 msg[0].flags = client->flags | I2C_M_STOP;
78 msg[0].buf = (char *) ®
80 msg[1].addr = client->addr;
81 msg[1].flags = client->flags | I2C_M_RD;
83 msg[1].buf = (char *) val;
85 ret = i2c_transfer(client->adapter, msg, 2);
87 return (ret == 2) ? 0 : -EIO;
90 static int lidar_smbus_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
92 struct i2c_client *client = data->client;
96 * Device needs a STOP condition between address write, and data read
97 * so in turn i2c_smbus_read_byte_data cannot be used
101 ret = i2c_smbus_write_byte(client, reg++);
103 dev_err(&client->dev, "cannot write addr value");
107 ret = i2c_smbus_read_byte(client);
109 dev_err(&client->dev, "cannot read data value");
119 static int lidar_read_byte(struct lidar_data *data, u8 reg)
124 ret = data->xfer(data, reg, &val, 1);
131 static inline int lidar_write_control(struct lidar_data *data, int val)
133 return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val);
136 static inline int lidar_write_power(struct lidar_data *data, int val)
138 return i2c_smbus_write_byte_data(data->client,
139 LIDAR_REG_PWR_CONTROL, val);
142 static int lidar_read_measurement(struct lidar_data *data, u16 *reg)
145 int ret = data->xfer(data, LIDAR_REG_DATA_HBYTE |
146 (data->i2c_enabled ? LIDAR_REG_DATA_WORD_READ : 0),
150 *reg = be16_to_cpu(value);
155 static int lidar_get_measurement(struct lidar_data *data, u16 *reg)
157 struct i2c_client *client = data->client;
161 pm_runtime_get_sync(&client->dev);
164 ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE);
166 dev_err(&client->dev, "cannot send start measurement command");
167 pm_runtime_put_noidle(&client->dev);
172 usleep_range(1000, 2000);
174 ret = lidar_read_byte(data, LIDAR_REG_STATUS);
178 /* return -EINVAL since laser is likely pointed out of range */
179 if (ret & LIDAR_REG_STATUS_INVALID) {
185 /* sample ready to read */
186 if (!(ret & LIDAR_REG_STATUS_READY)) {
187 ret = lidar_read_measurement(data, reg);
192 pm_runtime_mark_last_busy(&client->dev);
193 pm_runtime_put_autosuspend(&client->dev);
198 static int lidar_read_raw(struct iio_dev *indio_dev,
199 struct iio_chan_spec const *chan,
200 int *val, int *val2, long mask)
202 struct lidar_data *data = iio_priv(indio_dev);
206 case IIO_CHAN_INFO_RAW: {
209 if (iio_device_claim_direct_mode(indio_dev))
212 ret = lidar_get_measurement(data, ®);
217 iio_device_release_direct_mode(indio_dev);
220 case IIO_CHAN_INFO_SCALE:
223 ret = IIO_VAL_INT_PLUS_MICRO;
230 static irqreturn_t lidar_trigger_handler(int irq, void *private)
232 struct iio_poll_func *pf = private;
233 struct iio_dev *indio_dev = pf->indio_dev;
234 struct lidar_data *data = iio_priv(indio_dev);
237 ret = lidar_get_measurement(data, &data->scan.chan);
239 iio_push_to_buffers_with_timestamp(indio_dev, &data->scan,
240 iio_get_time_ns(indio_dev));
241 } else if (ret != -EINVAL) {
242 dev_err(&data->client->dev, "cannot read LIDAR measurement");
245 iio_trigger_notify_done(indio_dev->trig);
250 static const struct iio_info lidar_info = {
251 .read_raw = lidar_read_raw,
254 static int lidar_probe(struct i2c_client *client,
255 const struct i2c_device_id *id)
257 struct lidar_data *data;
258 struct iio_dev *indio_dev;
261 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
264 data = iio_priv(indio_dev);
266 if (i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
267 data->xfer = lidar_i2c_xfer;
268 data->i2c_enabled = 1;
269 } else if (i2c_check_functionality(client->adapter,
270 I2C_FUNC_SMBUS_WORD_DATA | I2C_FUNC_SMBUS_BYTE))
271 data->xfer = lidar_smbus_xfer;
275 indio_dev->info = &lidar_info;
276 indio_dev->name = LIDAR_DRV_NAME;
277 indio_dev->channels = lidar_channels;
278 indio_dev->num_channels = ARRAY_SIZE(lidar_channels);
279 indio_dev->modes = INDIO_DIRECT_MODE;
281 i2c_set_clientdata(client, indio_dev);
283 data->client = client;
284 data->indio_dev = indio_dev;
286 ret = iio_triggered_buffer_setup(indio_dev, NULL,
287 lidar_trigger_handler, NULL);
291 ret = iio_device_register(indio_dev);
293 goto error_unreg_buffer;
295 pm_runtime_set_autosuspend_delay(&client->dev, 1000);
296 pm_runtime_use_autosuspend(&client->dev);
298 ret = pm_runtime_set_active(&client->dev);
300 goto error_unreg_buffer;
301 pm_runtime_enable(&client->dev);
302 pm_runtime_idle(&client->dev);
307 iio_triggered_buffer_cleanup(indio_dev);
312 static int lidar_remove(struct i2c_client *client)
314 struct iio_dev *indio_dev = i2c_get_clientdata(client);
316 iio_device_unregister(indio_dev);
317 iio_triggered_buffer_cleanup(indio_dev);
319 pm_runtime_disable(&client->dev);
320 pm_runtime_set_suspended(&client->dev);
325 static const struct i2c_device_id lidar_id[] = {
326 {"lidar-lite-v2", 0},
327 {"lidar-lite-v3", 0},
330 MODULE_DEVICE_TABLE(i2c, lidar_id);
332 static const struct of_device_id lidar_dt_ids[] = {
333 { .compatible = "pulsedlight,lidar-lite-v2" },
334 { .compatible = "grmn,lidar-lite-v3" },
337 MODULE_DEVICE_TABLE(of, lidar_dt_ids);
340 static int lidar_pm_runtime_suspend(struct device *dev)
342 struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
343 struct lidar_data *data = iio_priv(indio_dev);
345 return lidar_write_power(data, 0x0f);
348 static int lidar_pm_runtime_resume(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);
352 int ret = lidar_write_power(data, 0);
354 /* regulator and FPGA needs settling time */
355 usleep_range(15000, 20000);
361 static const struct dev_pm_ops lidar_pm_ops = {
362 SET_RUNTIME_PM_OPS(lidar_pm_runtime_suspend,
363 lidar_pm_runtime_resume, NULL)
366 static struct i2c_driver lidar_driver = {
368 .name = LIDAR_DRV_NAME,
369 .of_match_table = lidar_dt_ids,
372 .probe = lidar_probe,
373 .remove = lidar_remove,
374 .id_table = lidar_id,
376 module_i2c_driver(lidar_driver);
378 MODULE_AUTHOR("Matt Ranostay <matt.ranostay@konsulko.com>");
379 MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
380 MODULE_LICENSE("GPL");