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 u16 buffer[8]; /* 2 byte distance + 8 byte timestamp */
49 static const struct iio_chan_spec lidar_channels[] = {
53 BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_SCALE),
61 IIO_CHAN_SOFT_TIMESTAMP(1),
64 static int lidar_i2c_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
66 struct i2c_client *client = data->client;
67 struct i2c_msg msg[2];
70 msg[0].addr = client->addr;
71 msg[0].flags = client->flags | I2C_M_STOP;
73 msg[0].buf = (char *) ®
75 msg[1].addr = client->addr;
76 msg[1].flags = client->flags | I2C_M_RD;
78 msg[1].buf = (char *) val;
80 ret = i2c_transfer(client->adapter, msg, 2);
82 return (ret == 2) ? 0 : -EIO;
85 static int lidar_smbus_xfer(struct lidar_data *data, u8 reg, u8 *val, int len)
87 struct i2c_client *client = data->client;
91 * Device needs a STOP condition between address write, and data read
92 * so in turn i2c_smbus_read_byte_data cannot be used
96 ret = i2c_smbus_write_byte(client, reg++);
98 dev_err(&client->dev, "cannot write addr value");
102 ret = i2c_smbus_read_byte(client);
104 dev_err(&client->dev, "cannot read data value");
114 static int lidar_read_byte(struct lidar_data *data, u8 reg)
119 ret = data->xfer(data, reg, &val, 1);
126 static inline int lidar_write_control(struct lidar_data *data, int val)
128 return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val);
131 static inline int lidar_write_power(struct lidar_data *data, int val)
133 return i2c_smbus_write_byte_data(data->client,
134 LIDAR_REG_PWR_CONTROL, val);
137 static int lidar_read_measurement(struct lidar_data *data, u16 *reg)
140 int ret = data->xfer(data, LIDAR_REG_DATA_HBYTE |
141 (data->i2c_enabled ? LIDAR_REG_DATA_WORD_READ : 0),
145 *reg = be16_to_cpu(value);
150 static int lidar_get_measurement(struct lidar_data *data, u16 *reg)
152 struct i2c_client *client = data->client;
156 pm_runtime_get_sync(&client->dev);
159 ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE);
161 dev_err(&client->dev, "cannot send start measurement command");
166 usleep_range(1000, 2000);
168 ret = lidar_read_byte(data, LIDAR_REG_STATUS);
172 /* return -EINVAL since laser is likely pointed out of range */
173 if (ret & LIDAR_REG_STATUS_INVALID) {
179 /* sample ready to read */
180 if (!(ret & LIDAR_REG_STATUS_READY)) {
181 ret = lidar_read_measurement(data, reg);
186 pm_runtime_mark_last_busy(&client->dev);
187 pm_runtime_put_autosuspend(&client->dev);
192 static int lidar_read_raw(struct iio_dev *indio_dev,
193 struct iio_chan_spec const *chan,
194 int *val, int *val2, long mask)
196 struct lidar_data *data = iio_priv(indio_dev);
200 case IIO_CHAN_INFO_RAW: {
203 if (iio_device_claim_direct_mode(indio_dev))
206 ret = lidar_get_measurement(data, ®);
211 iio_device_release_direct_mode(indio_dev);
214 case IIO_CHAN_INFO_SCALE:
217 ret = IIO_VAL_INT_PLUS_MICRO;
224 static irqreturn_t lidar_trigger_handler(int irq, void *private)
226 struct iio_poll_func *pf = private;
227 struct iio_dev *indio_dev = pf->indio_dev;
228 struct lidar_data *data = iio_priv(indio_dev);
231 ret = lidar_get_measurement(data, data->buffer);
233 iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
234 iio_get_time_ns(indio_dev));
235 } else if (ret != -EINVAL) {
236 dev_err(&data->client->dev, "cannot read LIDAR measurement");
239 iio_trigger_notify_done(indio_dev->trig);
244 static const struct iio_info lidar_info = {
245 .read_raw = lidar_read_raw,
248 static int lidar_probe(struct i2c_client *client,
249 const struct i2c_device_id *id)
251 struct lidar_data *data;
252 struct iio_dev *indio_dev;
255 indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
258 data = iio_priv(indio_dev);
260 if (i2c_check_functionality(client->adapter, I2C_FUNC_I2C)) {
261 data->xfer = lidar_i2c_xfer;
262 data->i2c_enabled = 1;
263 } else if (i2c_check_functionality(client->adapter,
264 I2C_FUNC_SMBUS_WORD_DATA | I2C_FUNC_SMBUS_BYTE))
265 data->xfer = lidar_smbus_xfer;
269 indio_dev->info = &lidar_info;
270 indio_dev->name = LIDAR_DRV_NAME;
271 indio_dev->channels = lidar_channels;
272 indio_dev->num_channels = ARRAY_SIZE(lidar_channels);
273 indio_dev->dev.parent = &client->dev;
274 indio_dev->modes = INDIO_DIRECT_MODE;
276 i2c_set_clientdata(client, indio_dev);
278 data->client = client;
279 data->indio_dev = indio_dev;
281 ret = iio_triggered_buffer_setup(indio_dev, NULL,
282 lidar_trigger_handler, NULL);
286 ret = iio_device_register(indio_dev);
288 goto error_unreg_buffer;
290 pm_runtime_set_autosuspend_delay(&client->dev, 1000);
291 pm_runtime_use_autosuspend(&client->dev);
293 ret = pm_runtime_set_active(&client->dev);
295 goto error_unreg_buffer;
296 pm_runtime_enable(&client->dev);
297 pm_runtime_idle(&client->dev);
302 iio_triggered_buffer_cleanup(indio_dev);
307 static int lidar_remove(struct i2c_client *client)
309 struct iio_dev *indio_dev = i2c_get_clientdata(client);
311 iio_device_unregister(indio_dev);
312 iio_triggered_buffer_cleanup(indio_dev);
314 pm_runtime_disable(&client->dev);
315 pm_runtime_set_suspended(&client->dev);
320 static const struct i2c_device_id lidar_id[] = {
321 {"lidar-lite-v2", 0},
322 {"lidar-lite-v3", 0},
325 MODULE_DEVICE_TABLE(i2c, lidar_id);
327 static const struct of_device_id lidar_dt_ids[] = {
328 { .compatible = "pulsedlight,lidar-lite-v2" },
329 { .compatible = "grmn,lidar-lite-v3" },
332 MODULE_DEVICE_TABLE(of, lidar_dt_ids);
335 static int lidar_pm_runtime_suspend(struct device *dev)
337 struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
338 struct lidar_data *data = iio_priv(indio_dev);
340 return lidar_write_power(data, 0x0f);
343 static int lidar_pm_runtime_resume(struct device *dev)
345 struct iio_dev *indio_dev = i2c_get_clientdata(to_i2c_client(dev));
346 struct lidar_data *data = iio_priv(indio_dev);
347 int ret = lidar_write_power(data, 0);
349 /* regulator and FPGA needs settling time */
350 usleep_range(15000, 20000);
356 static const struct dev_pm_ops lidar_pm_ops = {
357 SET_RUNTIME_PM_OPS(lidar_pm_runtime_suspend,
358 lidar_pm_runtime_resume, NULL)
361 static struct i2c_driver lidar_driver = {
363 .name = LIDAR_DRV_NAME,
364 .of_match_table = of_match_ptr(lidar_dt_ids),
367 .probe = lidar_probe,
368 .remove = lidar_remove,
369 .id_table = lidar_id,
371 module_i2c_driver(lidar_driver);
373 MODULE_AUTHOR("Matt Ranostay <matt.ranostay@konsulko.com>");
374 MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
375 MODULE_LICENSE("GPL");