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([103.187.64.30]) by smtp.gmail.com with ESMTPSA id 98e67ed59e1d1-3475e952efbsm6903483a91.1.2025.11.30.07.37.33 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 30 Nov 2025 07:37:38 -0800 (PST) From: Shrikant Raskar To: jic23@kernel.org, robh@kernel.org, krzk+dt@kernel.org, conor+dt@kernel.org Cc: dlechner@baylibre.com, nuno.sa@analog.com, andy@kernel.org, heiko@sntech.de, neil.armstrong@linaro.org, skhan@linuxfoundation.org, david.hunter.linux@gmail.com, linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, Shrikant Raskar Subject: [PATCH v2 1/4] dt-bindings: iio: proximity: Add RF Digital RFD77402 ToF sensor Date: Sun, 30 Nov 2025 21:07:09 +0530 Message-ID: <20251130153712.6792-2-raskar.shree97@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20251130153712.6792-1-raskar.shree97@gmail.com> References: <20251130153712.6792-1-raskar.shree97@gmail.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Type: text/plain; charset="utf-8" Content-Transfer-Encoding: quoted-printable The RF Digital RFD77402 is a Time-of-Flight (ToF) proximity and distance sensor that provides absolute and highly accurate distance measurements from 100 mm up to 2000 mm over an I=C2=B2C interface. It includes an option= al interrupt pin that signals when new measurement data is ready. Signed-off-by: Shrikant Raskar Reviewed-by: Krzysztof Kozlowski --- Changelog: Changes since v1: - Fix patch heading - Fix commit message - Remove '|' from description - Update interrupt description - Add 'vdd-supply' to required - Add 'vdd-supply' to example Link to v1:https://lore.kernel.org/all/20251126031440.30065-2-raskar.shree9= 7@gmail.com/ --- .../iio/proximity/rfdigital,rfd77402.yaml | 53 +++++++++++++++++++ .../devicetree/bindings/vendor-prefixes.yaml | 2 + 2 files changed, 55 insertions(+) create mode 100644 Documentation/devicetree/bindings/iio/proximity/rfdigit= al,rfd77402.yaml diff --git a/Documentation/devicetree/bindings/iio/proximity/rfdigital,rfd7= 7402.yaml b/Documentation/devicetree/bindings/iio/proximity/rfdigital,rfd77= 402.yaml new file mode 100644 index 000000000000..1ef6326b209e --- /dev/null +++ b/Documentation/devicetree/bindings/iio/proximity/rfdigital,rfd77402.ya= ml @@ -0,0 +1,53 @@ +# SPDX-License-Identifier: (GPL-2.0 OR BSD-2-Clause) +%YAML 1.2 +--- +$id: http://devicetree.org/schemas/iio/proximity/rfdigital,rfd77402.yaml# +$schema: http://devicetree.org/meta-schemas/core.yaml# + +title: RF Digital RFD77402 ToF sensor + +maintainers: + - Shrikant Raskar + +description: + The RF Digital RFD77402 is a Time-of-Flight (ToF) proximity and distance + sensor providing up to 200 mm range measurement over an I2C interface. + +properties: + compatible: + const: rfdigital,rfd77402 + + reg: + maxItems: 1 + + interrupts: + maxItems: 1 + description: + Interrupt asserted when a new distance measurement is available. + + vdd-supply: + description: Regulator that provides power to the sensor. + +required: + - compatible + - reg + - vdd-supply + +additionalProperties: false + +examples: + - | + #include + i2c { + #address-cells =3D <1>; + #size-cells =3D <0>; + + proximity@4c { + compatible =3D "rfdigital,rfd77402"; + reg =3D <0x4c>; + vdd-supply =3D <&vdd_3v3>; + interrupt-parent =3D <&gpio>; + interrupts =3D <4 IRQ_TYPE_EDGE_FALLING>; + }; + }; +... diff --git a/Documentation/devicetree/bindings/vendor-prefixes.yaml b/Docum= entation/devicetree/bindings/vendor-prefixes.yaml index f1d1882009ba..a2e113e29e37 100644 --- a/Documentation/devicetree/bindings/vendor-prefixes.yaml +++ b/Documentation/devicetree/bindings/vendor-prefixes.yaml @@ -1341,6 +1341,8 @@ patternProperties: description: Revolution Robotics, Inc. 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([103.187.64.30]) by smtp.gmail.com with ESMTPSA id 98e67ed59e1d1-3475e952efbsm6903483a91.1.2025.11.30.07.37.42 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 30 Nov 2025 07:37:47 -0800 (PST) From: Shrikant Raskar To: jic23@kernel.org, robh@kernel.org, krzk+dt@kernel.org, conor+dt@kernel.org Cc: dlechner@baylibre.com, nuno.sa@analog.com, andy@kernel.org, heiko@sntech.de, neil.armstrong@linaro.org, skhan@linuxfoundation.org, david.hunter.linux@gmail.com, linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, Shrikant Raskar Subject: [PATCH v2 2/4] iio: proximity: rfd77402: Add Device Tree support Date: Sun, 30 Nov 2025 21:07:10 +0530 Message-ID: <20251130153712.6792-3-raskar.shree97@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20251130153712.6792-1-raskar.shree97@gmail.com> References: <20251130153712.6792-1-raskar.shree97@gmail.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: quoted-printable Content-Type: text/plain; charset="utf-8" This patch enables seamless integration of the RFD77402 ToF sensor on platforms that use Device Tree for hardware description. Signed-off-by: Shrikant Raskar --- Changelog: Changes since v1: - Add period at the end of commit message. Link to v1:https://lore.kernel.org/all/20251126031440.30065-3-raskar.shree9= 7@gmail.com/ --- drivers/iio/proximity/rfd77402.c | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/drivers/iio/proximity/rfd77402.c b/drivers/iio/proximity/rfd77= 402.c index aff60a3c1a6f..3262af6f6882 100644 --- a/drivers/iio/proximity/rfd77402.c +++ b/drivers/iio/proximity/rfd77402.c @@ -313,10 +313,17 @@ static const struct i2c_device_id rfd77402_id[] =3D { }; MODULE_DEVICE_TABLE(i2c, rfd77402_id); =20 +static const struct of_device_id rfd77402_of_match[] =3D { + { .compatible =3D "rfdigital,rfd77402" }, + { } +}; +MODULE_DEVICE_TABLE(of, rfd77402_of_match); + static struct i2c_driver rfd77402_driver =3D { .driver =3D { .name =3D RFD77402_DRV_NAME, .pm =3D pm_sleep_ptr(&rfd77402_pm_ops), + .of_match_table =3D rfd77402_of_match, }, .probe =3D rfd77402_probe, .id_table =3D rfd77402_id, --=20 2.43.0 From nobody Mon Dec 1 22:05:03 2025 Received: from mail-pj1-f68.google.com (mail-pj1-f68.google.com [209.85.216.68]) (using TLSv1.2 with cipher ECDHE-RSA-AES128-GCM-SHA256 (128/128 bits)) (No client certificate requested) by smtp.subspace.kernel.org (Postfix) with ESMTPS id 034652765C5 for ; 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([103.187.64.30]) by smtp.gmail.com with ESMTPSA id 98e67ed59e1d1-3475e952efbsm6903483a91.1.2025.11.30.07.37.51 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 30 Nov 2025 07:37:56 -0800 (PST) From: Shrikant Raskar To: jic23@kernel.org, robh@kernel.org, krzk+dt@kernel.org, conor+dt@kernel.org Cc: dlechner@baylibre.com, nuno.sa@analog.com, andy@kernel.org, heiko@sntech.de, neil.armstrong@linaro.org, skhan@linuxfoundation.org, david.hunter.linux@gmail.com, linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, Shrikant Raskar Subject: [PATCH v2 3/4] iio: proximity: rfd77402: Move polling logic into helper Date: Sun, 30 Nov 2025 21:07:11 +0530 Message-ID: <20251130153712.6792-4-raskar.shree97@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20251130153712.6792-1-raskar.shree97@gmail.com> References: <20251130153712.6792-1-raskar.shree97@gmail.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: quoted-printable Content-Type: text/plain; charset="utf-8" This change extracts the polling logic into a dedicated helper, rfd77402_result_polling(), which improves readability and keeps rfd77402_measure() focused on the high-level measurement flow. This refactoring is also a necessary preparation step for adding interrupt-based result handling in a follow-up patch. Signed-off-by: Shrikant Raskar --- drivers/iio/proximity/rfd77402.c | 35 +++++++++++++++++++------------- 1 file changed, 21 insertions(+), 14 deletions(-) diff --git a/drivers/iio/proximity/rfd77402.c b/drivers/iio/proximity/rfd77= 402.c index 3262af6f6882..2152509816ca 100644 --- a/drivers/iio/proximity/rfd77402.c +++ b/drivers/iio/proximity/rfd77402.c @@ -110,11 +110,28 @@ static int rfd77402_set_state(struct i2c_client *clie= nt, u8 state, u16 check) return 0; } =20 -static int rfd77402_measure(struct i2c_client *client) +static int rfd77402_result_polling(struct i2c_client *client) { int ret; int tries =3D 10; =20 + while (tries-- > 0) { + ret =3D i2c_smbus_read_byte_data(client, RFD77402_ICSR); + if (ret < 0) + return ret; + + if (ret & RFD77402_ICSR_RESULT) + return 0; + + msleep(20); + } + + return -ETIMEDOUT; +} + +static int rfd77402_measure(struct i2c_client *client) +{ + int ret; ret =3D rfd77402_set_state(client, RFD77402_CMD_MCPU_ON, RFD77402_STATUS_MCPU_ON); if (ret < 0) @@ -125,20 +142,10 @@ static int rfd77402_measure(struct i2c_client *client) RFD77402_CMD_VALID); 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([103.187.64.30]) by smtp.gmail.com with ESMTPSA id 98e67ed59e1d1-3475e952efbsm6903483a91.1.2025.11.30.07.38.03 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Sun, 30 Nov 2025 07:38:09 -0800 (PST) From: Shrikant Raskar To: jic23@kernel.org, robh@kernel.org, krzk+dt@kernel.org, conor+dt@kernel.org Cc: dlechner@baylibre.com, nuno.sa@analog.com, andy@kernel.org, heiko@sntech.de, neil.armstrong@linaro.org, skhan@linuxfoundation.org, david.hunter.linux@gmail.com, linux-iio@vger.kernel.org, devicetree@vger.kernel.org, linux-kernel@vger.kernel.org, Shrikant Raskar Subject: [PATCH v2 4/4] iio: proximity: rfd77402: Add interrupt handling support Date: Sun, 30 Nov 2025 21:07:12 +0530 Message-ID: <20251130153712.6792-5-raskar.shree97@gmail.com> X-Mailer: git-send-email 2.43.0 In-Reply-To: <20251130153712.6792-1-raskar.shree97@gmail.com> References: <20251130153712.6792-1-raskar.shree97@gmail.com> Precedence: bulk X-Mailing-List: linux-kernel@vger.kernel.org List-Id: List-Subscribe: List-Unsubscribe: MIME-Version: 1.0 Content-Transfer-Encoding: quoted-printable Content-Type: text/plain; charset="utf-8" Add interrupt handling support to enable event-driven data acquisition instead of continuous polling. This improves responsiveness, reduces CPU overhead, and supports low-power operation by allowing the system to remain idle until an interrupt occurs. Signed-off-by: Shrikant Raskar --- Changelog: Changes since v1: - Remove 'of.h' header - Split the condition in 2 parts in interrupt handler - Add helper rfd77402_wait_for_irq() - Add helper rfd77402_config_irq() - Code refactoring - Return failure if request IRQ failed Link to v1:https://lore.kernel.org/all/20251126031440.30065-4-raskar.shree9= 7@gmail.com/ Test Logs: 1. Interrupt Mode : pi@raspberrypi:~$ sudo i2cdetect -y 1 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- --=20 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 40: -- -- -- -- -- -- -- -- -- -- -- -- UU -- -- --=20 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 70: -- -- -- -- -- -- -- -- =20 pi@raspberrypi:~$ cat /sys/bus/iio/devices/iio:device0/in_distance_raw 35 pi@raspberrypi:~$ cat /sys/bus/iio/devices/iio:device0/in_distance_raw 39 pi@raspberrypi:~$ cat /proc/interrupts | grep rfd 127: 2 0 0 0 pinctrl-bcm2835 4 Edge = rfd77402 pi@raspberrypi:~$ dmesg | grep rfd [ 7.464789] rfd77402 1-004c: Using interrupt mode 2. Polling Mode : pi@raspberrypi:~$ sudo i2cdetect -y 1 0 1 2 3 4 5 6 7 8 9 a b c d e f 00: -- -- -- -- -- -- -- -- -- -- -- -- --=20 10: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 20: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 30: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 40: -- -- -- -- -- -- -- -- -- -- -- -- UU -- -- --=20 50: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 60: -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --=20 70: -- -- -- -- -- -- -- -- =20 pi@raspberrypi:~$ dmesg | grep rfd [ 26.908031] rfd77402 1-004c: No interrupt specified, using polling mode pi@raspberrypi:~$ cat /sys/bus/iio/devices/iio:device0/in_distance_raw 36 pi@raspberrypi:~$ cat /sys/bus/iio/devices/iio:device0/in_distance_raw 45 --- drivers/iio/proximity/rfd77402.c | 126 +++++++++++++++++++++++++++++-- 1 file changed, 118 insertions(+), 8 deletions(-) diff --git a/drivers/iio/proximity/rfd77402.c b/drivers/iio/proximity/rfd77= 402.c index 2152509816ca..8441a7bcabec 100644 --- a/drivers/iio/proximity/rfd77402.c +++ b/drivers/iio/proximity/rfd77402.c @@ -6,19 +6,21 @@ * * 7-bit I2C slave address 0x4c * - * TODO: interrupt * https://media.digikey.com/pdf/Data%20Sheets/RF%20Digital%20PDFs/RFD7740= 2.pdf */ =20 #include #include #include - +#include +#include #include =20 #define RFD77402_DRV_NAME "rfd77402" =20 #define RFD77402_ICSR 0x00 /* Interrupt Control Status Register */ +#define RFD77402_ICSR_CLR_CFG BIT(0) +#define RFD77402_ICSR_CLR_TYPE BIT(1) #define RFD77402_ICSR_INT_MODE BIT(2) #define RFD77402_ICSR_INT_POL BIT(3) #define RFD77402_ICSR_RESULT BIT(4) @@ -26,6 +28,12 @@ #define RFD77402_ICSR_H2M_MSG BIT(6) #define RFD77402_ICSR_RESET BIT(7) =20 +#define RFD77402_IER 0x02 +#define RFD77402_IER_RESULT BIT(0) +#define RFD77402_IER_M2H_MSG BIT(1) +#define RFD77402_IER_H2M_MSG BIT(2) +#define RFD77402_IER_RESET BIT(3) + #define RFD77402_CMD_R 0x04 #define RFD77402_CMD_SINGLE 0x01 #define RFD77402_CMD_STANDBY 0x10 @@ -80,6 +88,10 @@ struct rfd77402_data { struct i2c_client *client; /* Serialize reads from the sensor */ struct mutex lock; + /* Completion for interrupt-driven measurements */ + struct completion completion; + /* Flag to indicate if interrupt is available */ + bool irq_en; }; =20 static const struct iio_chan_spec rfd77402_channels[] =3D { @@ -110,6 +122,36 @@ static int rfd77402_set_state(struct i2c_client *clien= t, u8 state, u16 check) return 0; } =20 +static irqreturn_t rfd77402_interrupt_handler(int irq, void *dev_id) +{ + struct rfd77402_data *data =3D dev_id; + int ret; + + ret =3D i2c_smbus_read_byte_data(data->client, RFD77402_ICSR); + if (ret < 0) + return IRQ_NONE; + + /* Check if the interrupt is from our device */ + if (!(ret & RFD77402_ICSR_RESULT)) + return IRQ_NONE; + + /* Signal completion of measurement */ + complete(&data->completion); + return IRQ_HANDLED; +} + +static int rfd77402_wait_for_irq(struct rfd77402_data *data) +{ + int ret; + + ret =3D wait_for_completion_timeout(&data->completion, + msecs_to_jiffies(200)); + if (ret =3D=3D 0) + return -ETIMEDOUT; + + return 0; +} + static int rfd77402_result_polling(struct i2c_client *client) { int ret; @@ -129,21 +171,31 @@ static int rfd77402_result_polling(struct i2c_client = *client) return -ETIMEDOUT; } =20 -static int rfd77402_measure(struct i2c_client *client) +static int rfd77402_measure(struct rfd77402_data *data) { + struct i2c_client *client =3D data->client; int ret; + ret =3D rfd77402_set_state(client, RFD77402_CMD_MCPU_ON, RFD77402_STATUS_MCPU_ON); if (ret < 0) return ret; =20 + /* Initialize completion for interrupt mode */ + if (data->irq_en) + reinit_completion(&data->completion); + ret =3D i2c_smbus_write_byte_data(client, RFD77402_CMD_R, RFD77402_CMD_SINGLE | RFD77402_CMD_VALID); if (ret < 0) goto err; =09 - ret =3D rfd77402_result_polling(client); + if (data->irq_en) + ret =3D rfd77402_wait_for_irq(data); + else + ret =3D rfd77402_result_polling(data->client); + if (ret < 0) goto err; =20 @@ -175,7 +227,7 @@ static int rfd77402_read_raw(struct iio_dev *indio_dev, switch (mask) { case IIO_CHAN_INFO_RAW: mutex_lock(&data->lock); - ret =3D rfd77402_measure(data->client); + ret =3D rfd77402_measure(data); mutex_unlock(&data->lock); if (ret < 0) return ret; @@ -195,8 +247,25 @@ static const struct iio_info rfd77402_info =3D { .read_raw =3D rfd77402_read_raw, }; =20 +static int rfd77402_config_irq(struct i2c_client *client, u8 csr, u8 ier) +{ + int ret; + + ret =3D i2c_smbus_write_byte_data(client, RFD77402_ICSR, csr); + if (ret < 0) + return ret; + + ret =3D i2c_smbus_write_byte_data(client, RFD77402_IER, ier); + if (ret < 0) + return ret; + + return 0; +} + static int rfd77402_init(struct i2c_client *client) { + struct iio_dev *indio_dev =3D i2c_get_clientdata(client); + struct rfd77402_data *data =3D iio_priv(indio_dev); int ret, i; =20 ret =3D rfd77402_set_state(client, RFD77402_CMD_STANDBY, @@ -204,9 +273,25 @@ static int rfd77402_init(struct i2c_client *client) if (ret < 0) return ret; =20 - /* configure INT pad as push-pull, active low */ - ret =3D i2c_smbus_write_byte_data(client, RFD77402_ICSR, - RFD77402_ICSR_INT_MODE); + if (data->irq_en) { + /* + * Enable interrupt mode: + * - Configure ICSR for auto-clear on read, push-pull output and falling = edge + * - Enable "result ready" interrupt in IER + */ + ret =3D rfd77402_config_irq(client, + RFD77402_ICSR_CLR_CFG | + RFD77402_ICSR_INT_MODE, + RFD77402_IER_RESULT); + } else { + /* + * Disable all interrupts: + * - Clear ICSR configuration + * - Disable all interrupt in IER + */ + ret =3D rfd77402_config_irq(client, 0, 0); + } + if (ret < 0) return ret; =20 @@ -283,6 +368,31 @@ static int rfd77402_probe(struct i2c_client *client) data =3D iio_priv(indio_dev); data->client =3D client; mutex_init(&data->lock); + init_completion(&data->completion); + + i2c_set_clientdata(client, indio_dev); + + data->irq_en =3D false; + if (client->irq > 0) { + /* interrupt mode */ + ret =3D devm_request_threaded_irq(&client->dev, client->irq, + NULL, rfd77402_interrupt_handler, + IRQF_TRIGGER_FALLING | IRQF_ONESHOT, + "rfd77402", data); + if (ret < 0) { + dev_err(&client->dev, + "Failed to request IRQ %d: %d\n", + client->irq, ret); + return ret; + } + + data->irq_en =3D true; + dev_info(&client->dev, "Using interrupt mode\n"); + + } else { + /* polling mode */ + dev_info(&client->dev, "No interrupt specified, using polling mode\n"); + } =20 indio_dev->info =3D &rfd77402_info; indio_dev->channels =3D rfd77402_channels; --=20 2.43.0