From nobody Fri Apr 3 04:33:30 2026 Received: from mail-pj1-f46.google.com (mail-pj1-f46.google.com [209.85.216.46]) (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 5E59835C19D for ; Wed, 25 Mar 2026 06:33:32 +0000 (UTC) Authentication-Results: smtp.subspace.kernel.org; arc=none smtp.client-ip=209.85.216.46 ARC-Seal: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1774420415; cv=none; b=CCz9tL/ADL74B4O/GkrmXxm/nm1wSOBKs53JqrDZVDOsjpvmFMLHqtjOSPa5YpDHXjbevvfoTjOQxpgZiYktoUHXk1CI8At1RDg1Zq2YQSnBoz3rEmoGgQ3V6kD5dosFZaLkl/0tYGy+1tKYJXP9q2BoQwv+u2uDJU6pDsfMupE= ARC-Message-Signature: i=1; a=rsa-sha256; d=subspace.kernel.org; s=arc-20240116; t=1774420415; c=relaxed/simple; bh=BM9NtnBmtRE16sQR9Mt07bfy0Xk9ULa0eV14ZxTiNOc=; h=From:To:Cc:Subject:Date:Message-ID:In-Reply-To:References: MIME-Version; b=rczOlq1/cNj9m28h+T7fU+u0Cuno08wIe+pg4XCQZHR60OJWo32c6RRlg0c/UXju11JutS7y3v2zJO8CIIqGUuWbyWRKiIEXmcr+YrZ5ovW9wr0RJk68mSZA68irr6947I4CdNnxgCjZu2kULecwMlAQJo5FwQpaRmz+F0p3mC4= ARC-Authentication-Results: i=1; smtp.subspace.kernel.org; dmarc=none (p=none dis=none) header.from=sirat.me; spf=pass smtp.mailfrom=gmail.com; arc=none smtp.client-ip=209.85.216.46 Authentication-Results: smtp.subspace.kernel.org; dmarc=none (p=none dis=none) header.from=sirat.me Authentication-Results: smtp.subspace.kernel.org; spf=pass smtp.mailfrom=gmail.com Received: by mail-pj1-f46.google.com with SMTP id 98e67ed59e1d1-35b88a4f123so301800a91.1 for ; Tue, 24 Mar 2026 23:33:32 -0700 (PDT) X-Google-DKIM-Signature: v=1; a=rsa-sha256; c=relaxed/relaxed; d=1e100.net; s=20251104; t=1774420411; x=1775025211; h=content-transfer-encoding:mime-version:references:in-reply-to :message-id:date:subject:cc:to:from:x-gm-gg:x-gm-message-state:from :to:cc:subject:date:message-id:reply-to; bh=vnscgcKvyUJ6G0BjSmVfmwSJQtdMI8GpRj+zzhI3JmE=; b=B8MyOnAMRlZvJYYyB9tGXuhqg1Xinh7MraqDXYqK3Vaim+eVTWJU1Anv7kRLvWRvir qZKb/86t16+RMzmpAhQXQmtCGhRPtTVvT0dklCD0bXk7PwREbFMeCB7B9Eb52H9EbTe3 1ETzhgymTKHQiTDrnmeF+hEasHn7t/5Y+T4s+oMnzAsbs3n/Pzd/jTburvai3qJiW2+t ydttZjngKnatPx7Dsqp6bDgitrBsmKRmxCfBnEQ3bFOFCfR+iv92E891s2JUZ66mfkn6 UBfxjY1qLDaXTbFu4WQhHsVCiJVXlRzRH7RFccNKsMFASxgcWU0iX2dKPA+bV/AGytn3 WZbw== X-Forwarded-Encrypted: i=1; AJvYcCW3HLUCQIBNSrvJBIkyEPkIrKYdy79SnUqA/ANfDHgR19FLeUQsRARuvtM5ujgpbrdiOaUxuaT648HpFpI=@vger.kernel.org X-Gm-Message-State: AOJu0YzCr1DmP/IxYvAjnE6IkeipXa8BNZ21DEH0mMhGQolNmqwUjeQ6 NymvNOOV4nd4hjW5i19qaHih+tQbPbWa7X02n0RtUFtc1nXtC9DDZ9YC X-Gm-Gg: ATEYQzxdTneQaOZWZz0z1BNb9GYaDsADeMuYseCrIzftDjCcshFvzM/vH7WKpXrwgpZ prdpIUDKJJklU295xIjgqcOMyCF8hEwnqx55SWTR2l2FKwI/aCkZWnOveKkFQTl0YdJkDoWICKf DDTmOG9uFLcGEjL8y6gzsXFGZmiP4+yRtm8/3njKoE9qrKJv7HfCqawfHnurbkOH93YaYKSh1gs 4QzzgN8xYCAq3k5f8zeuFyztiTq/mRVVwOGk6zhpTyMpqgmD2ez3JquUlMWSkrTZQJBbjqvsiNp NeypIih+II6QjbOk1r+5o5hyPYkIIXQun2G11clxrzN6K4ZR0us3wDuTYvh1WXvGZQXxNghM9mk F3/32ZIXnrJXS/0g0IvvjtykiLnqBD1k6gFFe3jqyHCd04P8o70nu34ABFdBDuPbkRlO7H+w5wq qoF60aH7wFjLEbPo88dN2E9cPAxvAewUB3oFaYYeJSE/LZ+Bz9DrhbNn4x1drYSdKgnKPyrAJ6O 6ZQhgwk+jYjcHnYZA== X-Received: by 2002:a17:90a:d408:b0:35b:939c:e859 with SMTP id 98e67ed59e1d1-35c008d3cb6mr5186113a91.12.1774420411239; Tue, 24 Mar 2026 23:33:31 -0700 (PDT) Received: from archlinux ([103.135.252.21]) by smtp.gmail.com with ESMTPSA id 98e67ed59e1d1-35c0e954ba9sm526854a91.5.2026.03.24.23.33.25 (version=TLS1_3 cipher=TLS_AES_256_GCM_SHA384 bits=256/256); Tue, 24 Mar 2026 23:33:30 -0700 (PDT) From: Siratul Islam To: linux-iio@vger.kernel.org, devicetree@vger.kernel.org Cc: jic23@kernel.org, dlechner@baylibre.com, nuno.sa@analog.com, andy@kernel.org, robh@kernel.org, krzk+dt@kernel.org, conor+dt@kernel.org, linux-kernel@vger.kernel.org, Siratul Islam , Andy Shevchenko Subject: [PATCH v7 2/2] iio: proximity: add driver for ST VL53L1X ToF sensor Date: Wed, 25 Mar 2026 12:32:23 +0600 Message-ID: <20260325063254.18062-3-email@sirat.me> X-Mailer: git-send-email 2.53.0 In-Reply-To: <20260325063254.18062-1-email@sirat.me> References: <20260325063254.18062-1-email@sirat.me> 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 support for the STMicroelectronics VL53L1X Time-of-Flight ranging sensor with I2C interface. Reviewed-by: Andy Shevchenko Signed-off-by: Siratul Islam --- MAINTAINERS | 1 + drivers/iio/proximity/Kconfig | 15 + drivers/iio/proximity/Makefile | 1 + drivers/iio/proximity/vl53l1x-i2c.c | 795 ++++++++++++++++++++++++++++ 4 files changed, 812 insertions(+) create mode 100644 drivers/iio/proximity/vl53l1x-i2c.c diff --git a/MAINTAINERS b/MAINTAINERS index a142a97be4cb..50531a87bf2e 100644 --- a/MAINTAINERS +++ b/MAINTAINERS @@ -25098,6 +25098,7 @@ M: Siratul Islam L: linux-iio@vger.kernel.org S: Maintained F: Documentation/devicetree/bindings/iio/proximity/st,vl53l0x.yaml +F: drivers/iio/proximity/vl53l1x-i2c.c =20 STABLE BRANCH M: Greg Kroah-Hartman diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig index 6070974c2c85..bb77fad2a1b3 100644 --- a/drivers/iio/proximity/Kconfig +++ b/drivers/iio/proximity/Kconfig @@ -244,6 +244,21 @@ config VL53L0X_I2C To compile this driver as a module, choose M here: the module will be called vl53l0x-i2c. =20 +config VL53L1X_I2C + tristate "STMicroelectronics VL53L1X ToF ranger sensor (I2C)" + depends on I2C + select IIO_BUFFER + select IIO_TRIGGERED_BUFFER + select REGMAP_I2C + select RESET_CONTROLLER + help + Say Y here to build a driver for STMicroelectronics VL53L1X + ToF ranger sensors with i2c interface. + This driver can be used to measure the distance of objects. + + To compile this driver as a module, choose M here: the + module will be called vl53l1x-i2c. + config AW96103 tristate "AW96103/AW96105 Awinic proximity sensor" select REGMAP_I2C diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile index 152034d38c49..4352833dd8a4 100644 --- a/drivers/iio/proximity/Makefile +++ b/drivers/iio/proximity/Makefile @@ -23,5 +23,6 @@ obj-$(CONFIG_SX_COMMON) +=3D sx_common.o obj-$(CONFIG_SX9500) +=3D sx9500.o obj-$(CONFIG_VCNL3020) +=3D vcnl3020.o obj-$(CONFIG_VL53L0X_I2C) +=3D vl53l0x-i2c.o +obj-$(CONFIG_VL53L1X_I2C) +=3D vl53l1x-i2c.o obj-$(CONFIG_AW96103) +=3D aw96103.o =20 diff --git a/drivers/iio/proximity/vl53l1x-i2c.c b/drivers/iio/proximity/vl= 53l1x-i2c.c new file mode 100644 index 000000000000..085bff04f5d9 --- /dev/null +++ b/drivers/iio/proximity/vl53l1x-i2c.c @@ -0,0 +1,795 @@ +// SPDX-License-Identifier: GPL-2.0 OR BSD-2-Clause +/* + * Support for ST VL53L1X FlightSense ToF Ranging Sensor on a i2c bus. + * + * Copyright (C) 2026 Siratul Islam + * + * Datasheet available at + * + * + * Default 7-bit i2c slave address 0x29. + * + * The VL53L1X requires a firmware configuration blob to be loaded at boot. + * Register values for the default configuration are taken from + * ST's VL53L1X Ultra Lite Driver (STSW-IMG009). + */ + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include +#include +#include + +#define VL53L1X_REG_SOFT_RESET 0x0000 +#define VL53L1X_REG_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008 +#define VL53L1X_REG_VHV_CONFIG__INIT 0x000B +#define VL53L1X_REG_GPIO_HV_MUX__CTRL 0x0030 +#define VL53L1X_REG_GPIO__TIO_HV_STATUS 0x0031 +#define VL53L1X_REG_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046 +#define VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B +#define VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_A 0x005E +#define VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060 +#define VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_B 0x0061 +#define VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063 +#define VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069 +#define VL53L1X_REG_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C +#define VL53L1X_REG_SD_CONFIG__WOI_SD0 0x0078 +#define VL53L1X_REG_SD_CONFIG__WOI_SD1 0x0079 +#define VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0 0x007A +#define VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1 0x007B +#define VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR 0x0086 +#define VL53L1X_REG_SYSTEM__MODE_START 0x0087 +#define VL53L1X_REG_RESULT__RANGE_STATUS 0x0089 +#define VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096 +#define VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL 0x00DE +#define VL53L1X_REG_FIRMWARE__SYSTEM_STATUS 0x00E5 +#define VL53L1X_REG_IDENTIFICATION__MODEL_ID 0x010F +#define VL53L1X_REG_DEFAULT_CONFIG 0x002D + +#define VL53L1X_MODEL_ID_VAL 0xEACC + +#define VL53L1X_MODE_START_TIMED 0x40 +#define VL53L1X_MODE_START_STOP 0x00 + +#define VL53L1X_INT_NEW_SAMPLE_READY 0x02 + +#define VL53L1X_GPIO_HV_MUX_POLARITY BIT(4) + +#define VL53L1X_VHV_LOOP_BOUND_TWO 0x09 + +#define VL53L1X_RANGE_STATUS_MASK GENMASK(4, 0) +#define VL53L1X_RANGE_STATUS_VALID 9 + +#define VL53L1X_OSC_CALIBRATE_MASK GENMASK(9, 0) + +/* Inter-measurement period uses PLL divider with 1.075 oscillator correct= ion */ +static const struct u32_fract vl53l1x_osc_correction =3D { + .numerator =3D 1075, + .denominator =3D 1000, +}; + +enum vl53l1x_distance_mode { + VL53L1X_SHORT, + VL53L1X_LONG, +}; + +struct vl53l1x_data { + struct regmap *regmap; + struct completion completion; + struct regulator *vdd_supply; + struct reset_control *xshut_reset; + enum vl53l1x_distance_mode distance_mode; + u8 gpio_polarity; + int irq; +}; + +static const struct regmap_range vl53l1x_volatile_ranges[] =3D { + regmap_reg_range(VL53L1X_REG_GPIO__TIO_HV_STATUS, + VL53L1X_REG_GPIO__TIO_HV_STATUS), + regmap_reg_range(VL53L1X_REG_RESULT__RANGE_STATUS, + VL53L1X_REG_RESULT__RANGE_STATUS), + regmap_reg_range(VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_S= D0, + VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 + 1), + regmap_reg_range(VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL, + VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL + 1), + regmap_reg_range(VL53L1X_REG_FIRMWARE__SYSTEM_STATUS, + VL53L1X_REG_FIRMWARE__SYSTEM_STATUS), +}; + +static const struct regmap_access_table vl53l1x_volatile_table =3D { + .yes_ranges =3D vl53l1x_volatile_ranges, + .n_yes_ranges =3D ARRAY_SIZE(vl53l1x_volatile_ranges), +}; + +static const struct regmap_range vl53l1x_write_only_ranges[] =3D { + regmap_reg_range(VL53L1X_REG_SOFT_RESET, VL53L1X_REG_SOFT_RESET), + regmap_reg_range(VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR, + VL53L1X_REG_SYSTEM__MODE_START), +}; + +static const struct regmap_access_table vl53l1x_readable_table =3D { + .no_ranges =3D vl53l1x_write_only_ranges, + .n_no_ranges =3D ARRAY_SIZE(vl53l1x_write_only_ranges), +}; + +static const struct regmap_config vl53l1x_regmap_config =3D { + .reg_bits =3D 16, + .val_bits =3D 8, + /* MODEL_ID is 16-bit. +1 covers the second byte at 0x0110 */ + .max_register =3D VL53L1X_REG_IDENTIFICATION__MODEL_ID + 1, + .cache_type =3D REGCACHE_MAPLE, + .volatile_table =3D &vl53l1x_volatile_table, + .rd_table =3D &vl53l1x_readable_table, +}; + +static int vl53l1x_read_u16(struct vl53l1x_data *data, u16 reg, u16 *val) +{ + __be16 buf; + int ret; + + ret =3D regmap_bulk_read(data->regmap, reg, &buf, sizeof(buf)); + if (ret) + return ret; + + *val =3D be16_to_cpu(buf); + return 0; +} + +static int vl53l1x_write_u16(struct vl53l1x_data *data, u16 reg, u16 val) +{ + __be16 buf =3D cpu_to_be16(val); + + return regmap_bulk_write(data->regmap, reg, &buf, sizeof(buf)); +} + +static int vl53l1x_write_u32(struct vl53l1x_data *data, u16 reg, u32 val) +{ + __be32 buf =3D cpu_to_be32(val); + + return regmap_bulk_write(data->regmap, reg, &buf, sizeof(buf)); +} + +static int vl53l1x_clear_irq(struct vl53l1x_data *data) +{ + return regmap_write(data->regmap, VL53L1X_REG_SYSTEM__INTERRUPT_CLEAR, 0x= 01); +} + +static int vl53l1x_start_ranging(struct vl53l1x_data *data) +{ + int ret; + + ret =3D vl53l1x_clear_irq(data); + if (ret) + return ret; + + return regmap_write(data->regmap, VL53L1X_REG_SYSTEM__MODE_START, + VL53L1X_MODE_START_TIMED); +} + +static int vl53l1x_stop_ranging(struct vl53l1x_data *data) +{ + return regmap_write(data->regmap, VL53L1X_REG_SYSTEM__MODE_START, + VL53L1X_MODE_START_STOP); +} + +/* + * Default configuration blob from ST's VL53L1X Ultra Lite Driver + * (STSW-IMG009). + */ +static const u8 vl53l1x_default_config[] =3D { + 0x00, 0x00, 0x00, 0x01, 0x02, 0x00, 0x02, 0x08, /* reg 0x2d..0x34 */ + 0x00, 0x08, 0x10, 0x01, 0x01, 0x00, 0x00, 0x00, /* reg 0x35..0x3c */ + 0x00, 0xFF, 0x00, 0x0F, 0x00, 0x00, 0x00, 0x00, /* reg 0x3d..0x44 */ + 0x00, 0x20, 0x0B, 0x00, 0x00, 0x02, 0x0A, 0x21, /* reg 0x45..0x4c */ + 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x00, 0xC8, /* reg 0x4d..0x54 */ + 0x00, 0x00, 0x38, 0xFF, 0x01, 0x00, 0x08, 0x00, /* reg 0x55..0x5c */ + 0x00, 0x01, 0xCC, 0x0F, 0x01, 0xF1, 0x0D, 0x01, /* reg 0x5d..0x64 */ + 0x68, 0x00, 0x80, 0x08, 0xB8, 0x00, 0x00, 0x00, /* reg 0x65..0x6c */ + 0x00, 0x0F, 0x89, 0x00, 0x00, 0x00, 0x00, 0x00, /* reg 0x6d..0x74 */ + 0x00, 0x00, 0x01, 0x0F, 0x0D, 0x0E, 0x0E, 0x00, /* reg 0x75..0x7c */ + 0x00, 0x02, 0xC7, 0xFF, 0x9B, 0x00, 0x00, 0x00, /* reg 0x7d..0x84 */ + 0x01, 0x00, 0x00, /* reg 0x85..0x87 */ +}; + +static int vl53l1x_chip_init(struct vl53l1x_data *data) +{ + struct device *dev =3D regmap_get_device(data->regmap); + unsigned int val; + u16 model_id; + int ret; + + if (!data->xshut_reset) { + ret =3D regmap_write(data->regmap, VL53L1X_REG_SOFT_RESET, 0x00); + if (ret) + return ret; + fsleep(100); /* conservative reset pulse, no spec */ + + ret =3D regmap_write(data->regmap, VL53L1X_REG_SOFT_RESET, 0x01); + if (ret) + return ret; + fsleep(1000); /* conservative boot wait, no spec */ + } + + ret =3D regmap_read_poll_timeout(data->regmap, + VL53L1X_REG_FIRMWARE__SYSTEM_STATUS, val, + val & BIT(0), + 1 * USEC_PER_MSEC, + 100 * USEC_PER_MSEC); + if (ret) + return dev_err_probe(dev, ret, "firmware boot timeout\n"); + + ret =3D vl53l1x_read_u16(data, VL53L1X_REG_IDENTIFICATION__MODEL_ID, + &model_id); + if (ret) + return ret; + + if (model_id !=3D VL53L1X_MODEL_ID_VAL) + dev_info(dev, "unknown model id: 0x%04x, continuing\n", model_id); + + ret =3D regmap_bulk_write(data->regmap, VL53L1X_REG_DEFAULT_CONFIG, + vl53l1x_default_config, + sizeof(vl53l1x_default_config)); + if (ret) + return ret; + + ret =3D regmap_read(data->regmap, VL53L1X_REG_GPIO_HV_MUX__CTRL, &val); + if (ret) + return ret; + data->gpio_polarity =3D !!(val & VL53L1X_GPIO_HV_MUX_POLARITY); + + /* Initial ranging cycle for VHV calibration */ + ret =3D vl53l1x_start_ranging(data); + if (ret) + return ret; + + /* 1ms poll, 1s timeout covers max timing budgets (per ST Ultra Lite Driv= er) */ + ret =3D regmap_read_poll_timeout(data->regmap, + VL53L1X_REG_GPIO__TIO_HV_STATUS, val, + (val & 1) !=3D data->gpio_polarity, + 1 * USEC_PER_MSEC, + 1000 * USEC_PER_MSEC); + if (ret) + return ret; + + ret =3D vl53l1x_clear_irq(data); + if (ret) + return ret; + + ret =3D vl53l1x_stop_ranging(data); + if (ret) + return ret; + + ret =3D regmap_write(data->regmap, + VL53L1X_REG_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, + VL53L1X_VHV_LOOP_BOUND_TWO); + if (ret) + return ret; + + return regmap_write(data->regmap, VL53L1X_REG_VHV_CONFIG__INIT, 0x00); +} + +static const struct reg_sequence vl53l1x_mode_short[] =3D { + { VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14 }, + { VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A, 0x07 }, + { VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B, 0x05 }, + { VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH, 0x38 }, + { VL53L1X_REG_SD_CONFIG__WOI_SD0, 0x07 }, + { VL53L1X_REG_SD_CONFIG__WOI_SD1, 0x05 }, + { VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0, 0x06 }, + { VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1, 0x06 }, +}; + +static const struct reg_sequence vl53l1x_mode_long[] =3D { + { VL53L1X_REG_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A }, + { VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F }, + { VL53L1X_REG_RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D }, + { VL53L1X_REG_RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8 }, + { VL53L1X_REG_SD_CONFIG__WOI_SD0, 0x0F }, + { VL53L1X_REG_SD_CONFIG__WOI_SD1, 0x0D }, + { VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD0, 0x0E }, + { VL53L1X_REG_SD_CONFIG__INITIAL_PHASE_SD1, 0x0E }, +}; + +static const struct { + const struct reg_sequence *regs; + size_t num_regs; +} vl53l1x_mode_configs[] =3D { + [VL53L1X_SHORT] =3D { vl53l1x_mode_short, ARRAY_SIZE(vl53l1x_mode_short) = }, + [VL53L1X_LONG] =3D { vl53l1x_mode_long, ARRAY_SIZE(vl53l1x_mode_long) }, +}; + +static int vl53l1x_set_distance_mode(struct vl53l1x_data *data, + enum vl53l1x_distance_mode mode) +{ + int ret; + + if (mode >=3D ARRAY_SIZE(vl53l1x_mode_configs)) + return -EINVAL; + + ret =3D regmap_multi_reg_write(data->regmap, + vl53l1x_mode_configs[mode].regs, + vl53l1x_mode_configs[mode].num_regs); + if (ret) + return ret; + + data->distance_mode =3D mode; + return 0; +} + +/* + * The timing budget controls how long the sensor spends collecting + * a single range measurement. Pre-computed TIMEOUT_MACROP register + * values from ST's VL53L1X Ultra Lite Driver. + */ +static int vl53l1x_set_timing_budget(struct vl53l1x_data *data, u16 budget= _ms) +{ + u16 timeout_a, timeout_b; + int ret; + + switch (data->distance_mode) { + case VL53L1X_SHORT: + switch (budget_ms) { + case 15: + timeout_a =3D 0x001D; + timeout_b =3D 0x0027; + break; + case 20: + timeout_a =3D 0x0051; + timeout_b =3D 0x006E; + break; + case 33: + timeout_a =3D 0x00D6; + timeout_b =3D 0x006E; + break; + case 50: + timeout_a =3D 0x01AE; + timeout_b =3D 0x01E8; + break; + case 100: + timeout_a =3D 0x02E1; + timeout_b =3D 0x0388; + break; + case 200: + timeout_a =3D 0x03E1; + timeout_b =3D 0x0496; + break; + case 500: + timeout_a =3D 0x0591; + timeout_b =3D 0x05C1; + break; + default: + return -EINVAL; + } + break; + case VL53L1X_LONG: + switch (budget_ms) { + case 20: + timeout_a =3D 0x001E; + timeout_b =3D 0x0022; + break; + case 33: + timeout_a =3D 0x0060; + timeout_b =3D 0x006E; + break; + case 50: + timeout_a =3D 0x00AD; + timeout_b =3D 0x00C6; + break; + case 100: + timeout_a =3D 0x01CC; + timeout_b =3D 0x01EA; + break; + case 200: + timeout_a =3D 0x02D9; + timeout_b =3D 0x02F8; + break; + case 500: + timeout_a =3D 0x048F; + timeout_b =3D 0x04A4; + break; + default: + return -EINVAL; + } + break; + default: + return -EINVAL; + } + + ret =3D vl53l1x_write_u16(data, VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_= A, + timeout_a); + if (ret) + return ret; + + return vl53l1x_write_u16(data, VL53L1X_REG_RANGE_CONFIG__TIMEOUT_MACROP_B, + timeout_b); +} + +static int vl53l1x_set_inter_measurement_ms(struct vl53l1x_data *data, + u16 period_ms) +{ + u16 osc_calibrate_val; + u16 clock_pll; + u32 inter_meas; + int ret; + + ret =3D vl53l1x_read_u16(data, VL53L1X_REG_RESULT__OSC_CALIBRATE_VAL, + &osc_calibrate_val); + if (ret) + return ret; + + clock_pll =3D osc_calibrate_val & VL53L1X_OSC_CALIBRATE_MASK; + inter_meas =3D (clock_pll * period_ms * vl53l1x_osc_correction.numerator)= / + vl53l1x_osc_correction.denominator; + + return vl53l1x_write_u32(data, + VL53L1X_REG_SYSTEM__INTERMEASUREMENT_PERIOD, + inter_meas); +} + +static int vl53l1x_read_proximity(struct vl53l1x_data *data, int *val) +{ + unsigned int range_status; + u16 distance; + int ret; + + if (data->irq) { + reinit_completion(&data->completion); + + ret =3D vl53l1x_clear_irq(data); + if (ret) + return ret; + + if (!wait_for_completion_timeout(&data->completion, HZ)) + return -ETIMEDOUT; + } else { + unsigned int rdy; + + /* 1ms poll, 1s timeout covers max timing budgets (per ST Ultra Lite Dri= ver) */ + ret =3D regmap_read_poll_timeout(data->regmap, + VL53L1X_REG_GPIO__TIO_HV_STATUS, rdy, + (rdy & 1) !=3D data->gpio_polarity, + 1 * USEC_PER_MSEC, + 1000 * USEC_PER_MSEC); + if (ret) + return ret; + } + + ret =3D regmap_read(data->regmap, VL53L1X_REG_RESULT__RANGE_STATUS, + &range_status); + if (ret) + goto clear_irq; + + if (FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) !=3D + VL53L1X_RANGE_STATUS_VALID) { + ret =3D -EIO; + goto clear_irq; + } + + ret =3D vl53l1x_read_u16(data, + VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, + &distance); + if (ret) + goto clear_irq; + + *val =3D distance; + +clear_irq: + vl53l1x_clear_irq(data); + return ret; +} + +static const struct iio_chan_spec vl53l1x_channels[] =3D { + { + .type =3D IIO_DISTANCE, + .info_mask_separate =3D BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + .scan_index =3D 0, + .scan_type =3D { + .sign =3D 'u', + .realbits =3D 16, + .storagebits =3D 16, + }, + }, + IIO_CHAN_SOFT_TIMESTAMP(1), +}; + +static int vl53l1x_read_raw(struct iio_dev *indio_dev, + const struct iio_chan_spec *chan, + int *val, int *val2, long mask) +{ + struct vl53l1x_data *data =3D iio_priv(indio_dev); + int ret; + + if (chan->type !=3D IIO_DISTANCE) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + if (!iio_device_claim_direct(indio_dev)) + return -EBUSY; + ret =3D vl53l1x_read_proximity(data, val); + iio_device_release_direct(indio_dev); + if (ret) + return ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + *val =3D 0; + *val2 =3D 1000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static const struct iio_info vl53l1x_info =3D { + .read_raw =3D vl53l1x_read_raw, + .validate_trigger =3D iio_validate_own_trigger, +}; + +static irqreturn_t vl53l1x_trigger_handler(int irq, void *priv) +{ + struct iio_poll_func *pf =3D priv; + struct iio_dev *indio_dev =3D pf->indio_dev; + struct vl53l1x_data *data =3D iio_priv(indio_dev); + struct { + u16 distance; + aligned_s64 timestamp; + } scan =3D { }; + unsigned int range_status; + int ret; + + ret =3D regmap_read(data->regmap, VL53L1X_REG_RESULT__RANGE_STATUS, + &range_status); + if (ret) + goto notify_and_clear_irq; + if (FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) !=3D + VL53L1X_RANGE_STATUS_VALID) + goto notify_and_clear_irq; + + ret =3D vl53l1x_read_u16(data, + VL53L1X_REG_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, + &scan.distance); + if (ret) + goto notify_and_clear_irq; + + iio_push_to_buffers_with_ts(indio_dev, &scan, sizeof(scan), + iio_get_time_ns(indio_dev)); + +notify_and_clear_irq: + iio_trigger_notify_done(indio_dev->trig); + vl53l1x_clear_irq(data); + + return IRQ_HANDLED; +} + +static irqreturn_t vl53l1x_irq_handler(int irq, void *priv) +{ + struct iio_dev *indio_dev =3D priv; + struct vl53l1x_data *data =3D iio_priv(indio_dev); + + if (iio_buffer_enabled(indio_dev)) + iio_trigger_poll(indio_dev->trig); + else + complete(&data->completion); + + return IRQ_HANDLED; +} + +static const struct iio_trigger_ops vl53l1x_trigger_ops =3D { + .validate_device =3D iio_trigger_validate_own_device, +}; + +static void vl53l1x_stop_ranging_action(void *priv) +{ + vl53l1x_stop_ranging(priv); +} + +static void vl53l1x_power_off(void *priv) +{ + struct vl53l1x_data *data =3D priv; + + reset_control_assert(data->xshut_reset); + regulator_disable(data->vdd_supply); +} + +static int vl53l1x_power_on(struct vl53l1x_data *data) +{ + int ret; + + ret =3D regulator_enable(data->vdd_supply); + if (ret) + return ret; + + ret =3D reset_control_deassert(data->xshut_reset); + if (ret) { + regulator_disable(data->vdd_supply); + return ret; + } + /* + * 1.2 ms max boot duration. + * Datasheet Section 3.6 "Power up and boot sequence". + */ + fsleep(1200); + + return 0; +} + +static int vl53l1x_configure_irq(struct device *dev, int irq, + struct iio_dev *indio_dev) +{ + struct vl53l1x_data *data =3D iio_priv(indio_dev); + int ret; + + ret =3D devm_request_irq(dev, irq, vl53l1x_irq_handler, IRQF_NO_THREAD, + indio_dev->name, indio_dev); + if (ret) + return ret; + + ret =3D regmap_write(data->regmap, VL53L1X_REG_SYSTEM__INTERRUPT_CONFIG_G= PIO, + VL53L1X_INT_NEW_SAMPLE_READY); + if (ret) + return dev_err_probe(dev, ret, "failed to configure IRQ\n"); + + return 0; +} + +static int vl53l1x_probe(struct i2c_client *client) +{ + struct device *dev =3D &client->dev; + struct vl53l1x_data *data; + struct iio_dev *indio_dev; + int ret; + + if (!i2c_check_functionality(client->adapter, + I2C_FUNC_SMBUS_READ_I2C_BLOCK | + I2C_FUNC_SMBUS_BYTE_DATA)) + return -EOPNOTSUPP; + + indio_dev =3D devm_iio_device_alloc(dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data =3D iio_priv(indio_dev); + data->irq =3D client->irq; + + data->regmap =3D devm_regmap_init_i2c(client, &vl53l1x_regmap_config); + if (IS_ERR(data->regmap)) + return dev_err_probe(dev, PTR_ERR(data->regmap), + "regmap initialization failed\n"); + + data->vdd_supply =3D devm_regulator_get(dev, "vdd"); + if (IS_ERR(data->vdd_supply)) + return dev_err_probe(dev, PTR_ERR(data->vdd_supply), + "Unable to get VDD regulator\n"); + + /* + * XSHUT held low puts the chip in hardware standby. All register + * state is lost on de-assert so this is functionally a reset. + */ + data->xshut_reset =3D devm_reset_control_get_optional_exclusive(dev, NULL= ); + if (IS_ERR(data->xshut_reset)) + return dev_err_probe(dev, PTR_ERR(data->xshut_reset), + "Cannot get reset control\n"); + + ret =3D vl53l1x_power_on(data); + if (ret) + return dev_err_probe(dev, ret, "Failed to power on the chip\n"); + + ret =3D devm_add_action_or_reset(dev, vl53l1x_power_off, data); + if (ret) + return ret; + + ret =3D vl53l1x_chip_init(data); + if (ret) + return ret; + + ret =3D vl53l1x_set_distance_mode(data, VL53L1X_LONG); + if (ret) + return ret; + + /* 50 ms timing budget (per ST Ultra Lite Driver) */ + ret =3D vl53l1x_set_timing_budget(data, 50); + if (ret) + return ret; + + /* 50 ms inter-measurement period (per ST Ultra Lite Driver) */ + ret =3D vl53l1x_set_inter_measurement_ms(data, 50); + if (ret) + return ret; + + /* + * The hardware only supports "autonomous" continuous ranging mode. + * Start ranging here and leave it running for the lifetime of + * the device. Both direct reads and the buffer path rely on this. + */ + ret =3D vl53l1x_start_ranging(data); + if (ret) + return ret; + + ret =3D devm_add_action_or_reset(dev, vl53l1x_stop_ranging_action, data); + if (ret) + return ret; + + indio_dev->name =3D "vl53l1x"; + indio_dev->info =3D &vl53l1x_info; + indio_dev->channels =3D vl53l1x_channels; + indio_dev->num_channels =3D ARRAY_SIZE(vl53l1x_channels); + indio_dev->modes =3D INDIO_DIRECT_MODE; + + if (client->irq) { + struct iio_trigger *trig; + + init_completion(&data->completion); + + trig =3D devm_iio_trigger_alloc(dev, "%s-dev%d", indio_dev->name, + iio_device_id(indio_dev)); + if (!trig) + return -ENOMEM; + + trig->ops =3D &vl53l1x_trigger_ops; + iio_trigger_set_drvdata(trig, indio_dev); + ret =3D devm_iio_trigger_register(dev, trig); + if (ret) + return ret; + + indio_dev->trig =3D iio_trigger_get(trig); + + ret =3D vl53l1x_configure_irq(dev, client->irq, indio_dev); + if (ret) + return ret; + + ret =3D devm_iio_triggered_buffer_setup(dev, indio_dev, NULL, + &vl53l1x_trigger_handler, + NULL); + if (ret) + return ret; + } + + return devm_iio_device_register(dev, indio_dev); +} + +static const struct i2c_device_id vl53l1x_id[] =3D { + { "vl53l1x" }, + { } +}; +MODULE_DEVICE_TABLE(i2c, vl53l1x_id); + +static const struct of_device_id st_vl53l1x_dt_match[] =3D { + { .compatible =3D "st,vl53l1x" }, + { } +}; +MODULE_DEVICE_TABLE(of, st_vl53l1x_dt_match); + +static struct i2c_driver vl53l1x_driver =3D { + .driver =3D { + .name =3D "vl53l1x-i2c", + .of_match_table =3D st_vl53l1x_dt_match, + }, + .probe =3D vl53l1x_probe, + .id_table =3D vl53l1x_id, +}; +module_i2c_driver(vl53l1x_driver); + +MODULE_AUTHOR("Siratul Islam "); +MODULE_DESCRIPTION("ST VL53L1X ToF ranging sensor driver"); +MODULE_LICENSE("Dual BSD/GPL"); --=20 2.53.0