* [PATCH v2 2/2] iio: proximity: add driver for ST VL53L1X ToF sensor
2026-03-08 11:37 [PATCH v2 0/2] iio: proximity: add driver for ST VL53L1X ToF sensor Siratul Islam
2026-03-08 11:37 ` [PATCH v2 1/2] dt-bindings: iio: proximity: add " Siratul Islam
@ 2026-03-08 11:37 ` Siratul Islam
2026-03-08 21:08 ` Andy Shevchenko
1 sibling, 1 reply; 7+ messages in thread
From: Siratul Islam @ 2026-03-08 11:37 UTC (permalink / raw)
To: linux-iio, devicetree
Cc: jic23, dlechner, nuno.sa, andy, robh, krzk+dt, conor+dt,
linux-kernel, Siratul Islam
Add support for the STMicroelectronics VL53L1X Time-of-Flight
ranging sensor with I2C interface.
Signed-off-by: Siratul Islam <email@sirat.me>
---
MAINTAINERS | 1 +
drivers/iio/proximity/Kconfig | 14 +
drivers/iio/proximity/Makefile | 1 +
drivers/iio/proximity/vl53l1x-i2c.c | 871 ++++++++++++++++++++++++++++
4 files changed, 887 insertions(+)
create mode 100644 drivers/iio/proximity/vl53l1x-i2c.c
diff --git a/MAINTAINERS b/MAINTAINERS
index 01c8e6bac322..cb8ee607fda1 100644
--- a/MAINTAINERS
+++ b/MAINTAINERS
@@ -25098,6 +25098,7 @@ M: Siratul Islam <email@sirat.me>
L: linux-iio@vger.kernel.org
S: Maintained
F: Documentation/devicetree/bindings/iio/proximity/st,vl53l1x.yaml
+F: drivers/iio/proximity/vl53l1x-i2c.c
STABLE BRANCH
M: Greg Kroah-Hartman <gregkh@linuxfoundation.org>
diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
index 6070974c2c85..3b0fdeb03ecd 100644
--- a/drivers/iio/proximity/Kconfig
+++ b/drivers/iio/proximity/Kconfig
@@ -244,6 +244,20 @@ config VL53L0X_I2C
To compile this driver as a module, choose M here: the
module will be called vl53l0x-i2c.
+config VL53L1X_I2C
+ tristate "STMicroelectronics VL53L1X ToF ranger sensor (I2C)"
+ depends on I2C
+ select IIO_BUFFER
+ select IIO_TRIGGERED_BUFFER
+ select REGMAP_I2C
+ 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-$(CONFIG_SX_COMMON) += sx_common.o
obj-$(CONFIG_SX9500) += sx9500.o
obj-$(CONFIG_VCNL3020) += vcnl3020.o
obj-$(CONFIG_VL53L0X_I2C) += vl53l0x-i2c.o
+obj-$(CONFIG_VL53L1X_I2C) += vl53l1x-i2c.o
obj-$(CONFIG_AW96103) += aw96103.o
diff --git a/drivers/iio/proximity/vl53l1x-i2c.c b/drivers/iio/proximity/vl53l1x-i2c.c
new file mode 100644
index 000000000000..3ebcaf37f502
--- /dev/null
+++ b/drivers/iio/proximity/vl53l1x-i2c.c
@@ -0,0 +1,871 @@
+// 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 <email@sirat.me>
+ *
+ * Datasheet available at
+ * <https://www.st.com/resource/en/datasheet/vl53l1x.pdf>
+ *
+ * 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 <linux/bits.h>
+#include <linux/bitfield.h>
+#include <linux/completion.h>
+#include <linux/delay.h>
+#include <linux/device.h>
+#include <linux/gpio/consumer.h>
+#include <linux/i2c.h>
+#include <linux/irq.h>
+#include <linux/interrupt.h>
+#include <linux/mod_devicetable.h>
+#include <linux/module.h>
+#include <linux/regmap.h>
+#include <linux/regulator/consumer.h>
+
+#include <linux/iio/iio.h>
+#include <linux/iio/buffer.h>
+#include <linux/iio/trigger.h>
+#include <linux/iio/trigger_consumer.h>
+#include <linux/iio/triggered_buffer.h>
+
+#define VL53L1X_SOFT_RESET 0x0000
+#define VL53L1X_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008
+#define VL53L1X_VHV_CONFIG__INIT 0x000B
+#define VL53L1X_GPIO_HV_MUX__CTRL 0x0030
+#define VL53L1X_GPIO__TIO_HV_STATUS 0x0031
+#define VL53L1X_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046
+#define VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B
+#define VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_A 0x005E
+#define VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060
+#define VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_B 0x0061
+#define VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063
+#define VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069
+#define VL53L1X_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C
+#define VL53L1X_SD_CONFIG__WOI_SD0 0x0078
+#define VL53L1X_SD_CONFIG__WOI_SD1 0x0079
+#define VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0 0x007A
+#define VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1 0x007B
+#define VL53L1X_SYSTEM__INTERRUPT_CLEAR 0x0086
+#define VL53L1X_SYSTEM__MODE_START 0x0087
+#define VL53L1X_RESULT__RANGE_STATUS 0x0089
+#define VL53L1X_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096
+#define VL53L1X_RESULT__OSC_CALIBRATE_VAL 0x00DE
+#define VL53L1X_FIRMWARE__SYSTEM_STATUS 0x00E5
+#define VL53L1X_IDENTIFICATION__MODEL_ID 0x010F
+
+#define VL53L1X_MODEL_ID_VAL 0xEACC
+
+#define VL53L1X_DEFAULT_CONFIG_ADDR 0x2D
+
+#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
+
+/* Inter-measurement period uses PLL divider with 1.075 oscillator correction */
+#define VL53L1X_OSC_CALIBRATE_MASK GENMASK(9, 0)
+#define VL53L1X_OSC_CORRECTION_FACTOR 1075
+#define VL53L1X_OSC_CORRECTION_DIVISOR 1000
+
+enum vl53l1x_distance_mode {
+ VL53L1X_SHORT,
+ VL53L1X_LONG,
+};
+
+struct vl53l1x_data {
+ struct i2c_client *client;
+ struct regmap *regmap;
+ struct completion completion;
+ struct regulator *vdd_supply;
+ struct gpio_desc *xshut_gpio;
+ enum vl53l1x_distance_mode distance_mode;
+ u16 osc_calibrate_val;
+ u8 gpio_polarity;
+};
+
+static const struct regmap_config vl53l1x_regmap_config = {
+ .reg_bits = 16,
+ .val_bits = 8,
+};
+
+static int vl53l1x_read_u16(struct vl53l1x_data *data, u16 reg, u16 *val)
+{
+ __be16 buf;
+ int ret;
+
+ ret = regmap_bulk_read(data->regmap, reg, &buf, 2);
+ if (ret)
+ return ret;
+
+ *val = be16_to_cpu(buf);
+ return 0;
+}
+
+static int vl53l1x_write_u16(struct vl53l1x_data *data, u16 reg, u16 val)
+{
+ __be16 buf = cpu_to_be16(val);
+
+ return regmap_bulk_write(data->regmap, reg, &buf, 2);
+}
+
+static int vl53l1x_write_u32(struct vl53l1x_data *data, u16 reg, u32 val)
+{
+ __be32 buf = cpu_to_be32(val);
+
+ return regmap_bulk_write(data->regmap, reg, &buf, 4);
+}
+
+static int vl53l1x_clear_irq(struct vl53l1x_data *data)
+{
+ return regmap_write(data->regmap, VL53L1X_SYSTEM__INTERRUPT_CLEAR,
+ 0x01);
+}
+
+static int vl53l1x_start_ranging(struct vl53l1x_data *data)
+{
+ int ret;
+
+ ret = vl53l1x_clear_irq(data);
+ if (ret)
+ return ret;
+
+ return regmap_write(data->regmap, VL53L1X_SYSTEM__MODE_START,
+ VL53L1X_MODE_START_TIMED);
+}
+
+static int vl53l1x_stop_ranging(struct vl53l1x_data *data)
+{
+ return regmap_write(data->regmap, VL53L1X_SYSTEM__MODE_START,
+ VL53L1X_MODE_START_STOP);
+}
+
+static int vl53l1x_data_ready(struct vl53l1x_data *data, bool *ready)
+{
+ unsigned int status;
+ int ret;
+
+ ret = regmap_read(data->regmap, VL53L1X_GPIO__TIO_HV_STATUS, &status);
+ if (ret)
+ return ret;
+
+ *ready = (status & 0x01) == (!data->gpio_polarity);
+ return 0;
+}
+
+/*
+ * Default configuration blob from ST's VL53L1X ULD (STSW-IMG009).
+ */
+static const u8 vl53l1x_default_config[] = {
+ 0x00, /* 0x2D */
+ 0x00, /* 0x2E */
+ 0x00, /* 0x2F */
+ 0x01, /* 0x30 */
+ 0x02, /* 0x31 */
+ 0x00, /* 0x32 */
+ 0x02, /* 0x33 */
+ 0x08, /* 0x34 */
+ 0x00, /* 0x35 */
+ 0x08, /* 0x36 */
+ 0x10, /* 0x37 */
+ 0x01, /* 0x38 */
+ 0x01, /* 0x39 */
+ 0x00, /* 0x3A */
+ 0x00, /* 0x3B */
+ 0x00, /* 0x3C */
+ 0x00, /* 0x3D */
+ 0xFF, /* 0x3E */
+ 0x00, /* 0x3F */
+ 0x0F, /* 0x40 */
+ 0x00, /* 0x41 */
+ 0x00, /* 0x42 */
+ 0x00, /* 0x43 */
+ 0x00, /* 0x44 */
+ 0x00, /* 0x45 */
+ 0x20, /* 0x46 */
+ 0x0B, /* 0x47 */
+ 0x00, /* 0x48 */
+ 0x00, /* 0x49 */
+ 0x02, /* 0x4A */
+ 0x0A, /* 0x4B */
+ 0x21, /* 0x4C */
+ 0x00, /* 0x4D */
+ 0x00, /* 0x4E */
+ 0x05, /* 0x4F */
+ 0x00, /* 0x50 */
+ 0x00, /* 0x51 */
+ 0x00, /* 0x52 */
+ 0x00, /* 0x53 */
+ 0xC8, /* 0x54 */
+ 0x00, /* 0x55 */
+ 0x00, /* 0x56 */
+ 0x38, /* 0x57 */
+ 0xFF, /* 0x58 */
+ 0x01, /* 0x59 */
+ 0x00, /* 0x5A */
+ 0x08, /* 0x5B */
+ 0x00, /* 0x5C */
+ 0x00, /* 0x5D */
+ 0x01, /* 0x5E */
+ 0xCC, /* 0x5F */
+ 0x0F, /* 0x60 */
+ 0x01, /* 0x61 */
+ 0xF1, /* 0x62 */
+ 0x0D, /* 0x63 */
+ 0x01, /* 0x64 */
+ 0x68, /* 0x65 */
+ 0x00, /* 0x66 */
+ 0x80, /* 0x67 */
+ 0x08, /* 0x68 */
+ 0xB8, /* 0x69 */
+ 0x00, /* 0x6A */
+ 0x00, /* 0x6B */
+ 0x00, /* 0x6C */
+ 0x00, /* 0x6D */
+ 0x0F, /* 0x6E */
+ 0x89, /* 0x6F */
+ 0x00, /* 0x70 */
+ 0x00, /* 0x71 */
+ 0x00, /* 0x72 */
+ 0x00, /* 0x73 */
+ 0x00, /* 0x74 */
+ 0x00, /* 0x75 */
+ 0x00, /* 0x76 */
+ 0x01, /* 0x77 */
+ 0x0F, /* 0x78 */
+ 0x0D, /* 0x79 */
+ 0x0E, /* 0x7A */
+ 0x0E, /* 0x7B */
+ 0x00, /* 0x7C */
+ 0x00, /* 0x7D */
+ 0x02, /* 0x7E */
+ 0xC7, /* 0x7F */
+ 0xFF, /* 0x80 */
+ 0x9B, /* 0x81 */
+ 0x00, /* 0x82 */
+ 0x00, /* 0x83 */
+ 0x00, /* 0x84 */
+ 0x01, /* 0x85 */
+ 0x00, /* 0x86 */
+ 0x00, /* 0x87 */
+};
+
+static int vl53l1x_chip_init(struct vl53l1x_data *data)
+{
+ struct device *dev = &data->client->dev;
+ unsigned int val;
+ u16 model_id;
+ int tries = 1000;
+ bool ready;
+ int ret;
+
+ if (!data->xshut_gpio) {
+ ret = regmap_write(data->regmap, VL53L1X_SOFT_RESET, 0x00);
+ if (ret)
+ return ret;
+ fsleep(100); /* conservative reset pulse, no spec */
+
+ ret = regmap_write(data->regmap, VL53L1X_SOFT_RESET, 0x01);
+ if (ret)
+ return ret;
+ fsleep(1000); /* conservative boot wait, no spec */
+ }
+
+ ret = regmap_read_poll_timeout(data->regmap,
+ VL53L1X_FIRMWARE__SYSTEM_STATUS, val,
+ val & BIT(0), 1000, 100000);
+ if (ret) {
+ dev_err(dev, "firmware boot timeout\n");
+ return ret;
+ }
+
+ ret = vl53l1x_read_u16(data, VL53L1X_IDENTIFICATION__MODEL_ID,
+ &model_id);
+ if (ret)
+ return ret;
+
+ if (model_id != VL53L1X_MODEL_ID_VAL)
+ dev_info(dev, "unknown model id: 0x%04x, continuing\n", model_id);
+
+ ret = vl53l1x_read_u16(data, VL53L1X_RESULT__OSC_CALIBRATE_VAL,
+ &data->osc_calibrate_val);
+ if (ret)
+ return ret;
+
+ ret = regmap_bulk_write(data->regmap, VL53L1X_DEFAULT_CONFIG_ADDR,
+ vl53l1x_default_config,
+ sizeof(vl53l1x_default_config));
+ if (ret)
+ return ret;
+
+ ret = regmap_read(data->regmap, VL53L1X_GPIO_HV_MUX__CTRL, &val);
+ if (ret)
+ return ret;
+ data->gpio_polarity = !!(val & VL53L1X_GPIO_HV_MUX_POLARITY);
+
+ /* Initial ranging cycle for VHV calibration */
+ ret = vl53l1x_start_ranging(data);
+ if (ret)
+ return ret;
+
+ do {
+ ret = vl53l1x_data_ready(data, &ready);
+ if (ret)
+ return ret;
+ if (ready)
+ break;
+ /* 1ms poll, 1s timeout covers max timing budgets (per ST ULD) */
+ fsleep(1000);
+ } while (--tries);
+
+ if (!tries)
+ return -ETIMEDOUT;
+
+ ret = vl53l1x_clear_irq(data);
+ if (ret)
+ return ret;
+
+ ret = vl53l1x_stop_ranging(data);
+ if (ret)
+ return ret;
+
+ ret = regmap_write(data->regmap,
+ VL53L1X_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
+ VL53L1X_VHV_LOOP_BOUND_TWO);
+ if (ret)
+ return ret;
+
+ return regmap_write(data->regmap, VL53L1X_VHV_CONFIG__INIT, 0x00);
+}
+
+static const struct reg_sequence vl53l1x_mode_short[] = {
+ { VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14 },
+ { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A, 0x07 },
+ { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B, 0x05 },
+ { VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH, 0x38 },
+ { VL53L1X_SD_CONFIG__WOI_SD0, 0x07 },
+ { VL53L1X_SD_CONFIG__WOI_SD1, 0x05 },
+ { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0, 6 },
+ { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1, 6 },
+};
+
+static const struct reg_sequence vl53l1x_mode_long[] = {
+ { VL53L1X_PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A },
+ { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F },
+ { VL53L1X_RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D },
+ { VL53L1X_RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8 },
+ { VL53L1X_SD_CONFIG__WOI_SD0, 0x0F },
+ { VL53L1X_SD_CONFIG__WOI_SD1, 0x0D },
+ { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD0, 14 },
+ { VL53L1X_SD_CONFIG__INITIAL_PHASE_SD1, 14 },
+};
+
+static const struct {
+ const struct reg_sequence *regs;
+ size_t num_regs;
+} vl53l1x_mode_configs[] = {
+ [VL53L1X_SHORT] = { vl53l1x_mode_short, ARRAY_SIZE(vl53l1x_mode_short) },
+ [VL53L1X_LONG] = { 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 >= ARRAY_SIZE(vl53l1x_mode_configs))
+ return -EINVAL;
+
+ ret = regmap_multi_reg_write(data->regmap,
+ vl53l1x_mode_configs[mode].regs,
+ vl53l1x_mode_configs[mode].num_regs);
+ if (ret)
+ return ret;
+
+ data->distance_mode = 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 ULD.
+ */
+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 = 0x001D;
+ timeout_b = 0x0027;
+ break;
+ case 20:
+ timeout_a = 0x0051;
+ timeout_b = 0x006E;
+ break;
+ case 33:
+ timeout_a = 0x00D6;
+ timeout_b = 0x006E;
+ break;
+ case 50:
+ timeout_a = 0x01AE;
+ timeout_b = 0x01E8;
+ break;
+ case 100:
+ timeout_a = 0x02E1;
+ timeout_b = 0x0388;
+ break;
+ case 200:
+ timeout_a = 0x03E1;
+ timeout_b = 0x0496;
+ break;
+ case 500:
+ timeout_a = 0x0591;
+ timeout_b = 0x05C1;
+ break;
+ default:
+ return -EINVAL;
+ }
+ break;
+ case VL53L1X_LONG:
+ switch (budget_ms) {
+ case 20:
+ timeout_a = 0x001E;
+ timeout_b = 0x0022;
+ break;
+ case 33:
+ timeout_a = 0x0060;
+ timeout_b = 0x006E;
+ break;
+ case 50:
+ timeout_a = 0x00AD;
+ timeout_b = 0x00C6;
+ break;
+ case 100:
+ timeout_a = 0x01CC;
+ timeout_b = 0x01EA;
+ break;
+ case 200:
+ timeout_a = 0x02D9;
+ timeout_b = 0x02F8;
+ break;
+ case 500:
+ timeout_a = 0x048F;
+ timeout_b = 0x04A4;
+ break;
+ default:
+ return -EINVAL;
+ }
+ break;
+ default:
+ return -EINVAL;
+ }
+
+ ret = vl53l1x_write_u16(data, VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_A,
+ timeout_a);
+ if (ret)
+ return ret;
+
+ return vl53l1x_write_u16(data, VL53L1X_RANGE_CONFIG__TIMEOUT_MACROP_B,
+ timeout_b);
+}
+
+static int vl53l1x_set_inter_measurement_ms(struct vl53l1x_data *data,
+ u16 period_ms)
+{
+ u16 clock_pll = data->osc_calibrate_val & VL53L1X_OSC_CALIBRATE_MASK;
+ u32 inter_meas;
+
+ inter_meas = (u32)clock_pll * (u32)period_ms;
+ inter_meas = (inter_meas * VL53L1X_OSC_CORRECTION_FACTOR) /
+ VL53L1X_OSC_CORRECTION_DIVISOR;
+
+ return vl53l1x_write_u32(data, VL53L1X_SYSTEM__INTERMEASUREMENT_PERIOD,
+ inter_meas);
+}
+
+static int vl53l1x_read_proximity(struct vl53l1x_data *data, int *val)
+{
+ unsigned long time_left;
+ unsigned int range_status;
+ u16 distance;
+ int tries = 1000;
+ bool ready;
+ int ret;
+
+ if (data->client->irq) {
+ reinit_completion(&data->completion);
+
+ ret = vl53l1x_clear_irq(data);
+ if (ret)
+ return ret;
+
+ time_left = wait_for_completion_timeout(&data->completion, HZ);
+ if (time_left == 0)
+ return -ETIMEDOUT;
+ } else {
+ do {
+ ret = vl53l1x_data_ready(data, &ready);
+ if (ret)
+ return ret;
+
+ if (ready)
+ break;
+ /* 1ms poll, 1s timeout covers max timing budgets (per ST ULD) */
+ fsleep(1000);
+ } while (--tries);
+
+ if (!tries)
+ return -ETIMEDOUT;
+ }
+
+ ret = regmap_read(data->regmap, VL53L1X_RESULT__RANGE_STATUS,
+ &range_status);
+ if (ret)
+ goto clear_irq;
+
+ if (FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) != VL53L1X_RANGE_STATUS_VALID) {
+ ret = -EIO;
+ goto clear_irq;
+ }
+
+ ret = vl53l1x_read_u16(data,
+ VL53L1X_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
+ &distance);
+ if (ret)
+ goto clear_irq;
+
+ dev_dbg(&data->client->dev, "distance=%u\n", distance);
+
+ *val = distance;
+
+clear_irq:
+ vl53l1x_clear_irq(data);
+ return ret;
+}
+
+static const struct iio_chan_spec vl53l1x_channels[] = {
+ {
+ .type = IIO_DISTANCE,
+ .info_mask_separate = BIT(IIO_CHAN_INFO_RAW) |
+ BIT(IIO_CHAN_INFO_SCALE),
+ .scan_index = 0,
+ .scan_type = {
+ .sign = 'u',
+ .realbits = 16,
+ .storagebits = 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 = iio_priv(indio_dev);
+ int ret;
+
+ if (chan->type != IIO_DISTANCE)
+ return -EINVAL;
+
+ switch (mask) {
+ case IIO_CHAN_INFO_RAW:
+ if (!iio_device_claim_direct(indio_dev))
+ return -EBUSY;
+ ret = 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 = 0;
+ *val2 = 1000;
+ return IIO_VAL_INT_PLUS_MICRO;
+ default:
+ return -EINVAL;
+ }
+}
+
+static const struct iio_info vl53l1x_info = {
+ .read_raw = vl53l1x_read_raw,
+ .validate_trigger = iio_validate_own_trigger,
+};
+
+static irqreturn_t vl53l1x_trigger_handler(int irq, void *priv)
+{
+ struct iio_poll_func *pf = priv;
+ struct iio_dev *indio_dev = pf->indio_dev;
+ struct vl53l1x_data *data = iio_priv(indio_dev);
+ struct {
+ u16 distance;
+ aligned_s64 timestamp;
+ } scan = {};
+ unsigned int range_status;
+ int ret;
+
+ ret = regmap_read(data->regmap, VL53L1X_RESULT__RANGE_STATUS,
+ &range_status);
+ if (ret || FIELD_GET(VL53L1X_RANGE_STATUS_MASK, range_status) !=
+ VL53L1X_RANGE_STATUS_VALID)
+ goto done;
+
+ ret = vl53l1x_read_u16(data,
+ VL53L1X_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0,
+ &scan.distance);
+ if (ret)
+ goto done;
+
+ iio_push_to_buffers_with_timestamp(indio_dev, &scan,
+ iio_get_time_ns(indio_dev));
+
+done:
+ 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 = priv;
+ struct vl53l1x_data *data = iio_priv(indio_dev);
+
+ if (iio_buffer_enabled(indio_dev))
+ iio_trigger_poll(indio_dev->trig);
+ else
+ complete(&data->completion);
+
+ return IRQ_HANDLED;
+}
+
+static int vl53l1x_buffer_postenable(struct iio_dev *indio_dev)
+{
+ struct vl53l1x_data *data = iio_priv(indio_dev);
+
+ return vl53l1x_start_ranging(data);
+}
+
+static int vl53l1x_buffer_predisable(struct iio_dev *indio_dev)
+{
+ struct vl53l1x_data *data = iio_priv(indio_dev);
+ int ret;
+
+ ret = vl53l1x_stop_ranging(data);
+ if (ret)
+ return ret;
+
+ reinit_completion(&data->completion);
+ wait_for_completion_timeout(&data->completion, HZ / 10);
+
+ return vl53l1x_clear_irq(data);
+}
+
+static const struct iio_buffer_setup_ops vl53l1x_buffer_setup_ops = {
+ .postenable = &vl53l1x_buffer_postenable,
+ .predisable = &vl53l1x_buffer_predisable,
+};
+
+static const struct iio_trigger_ops vl53l1x_trigger_ops = {
+ .validate_device = iio_trigger_validate_own_device,
+};
+
+static void vl53l1x_stop_ranging_action(void *_data)
+{
+ vl53l1x_stop_ranging(_data);
+}
+
+static void vl53l1x_power_off(void *_data)
+{
+ struct vl53l1x_data *data = _data;
+
+ gpiod_set_value_cansleep(data->xshut_gpio, 1);
+ regulator_disable(data->vdd_supply);
+}
+
+static int vl53l1x_power_on(struct vl53l1x_data *data)
+{
+ int ret;
+
+ ret = regulator_enable(data->vdd_supply);
+ if (ret)
+ return ret;
+
+ gpiod_set_value_cansleep(data->xshut_gpio, 0);
+ fsleep(1200); /* 1.2 ms max boot duration per VL53L1X datasheet */
+
+ return 0;
+}
+
+static int vl53l1x_configure_irq(struct i2c_client *client,
+ struct iio_dev *indio_dev)
+{
+ struct vl53l1x_data *data = iio_priv(indio_dev);
+ int irq_flags = irq_get_trigger_type(client->irq);
+ int ret;
+
+ ret = devm_request_irq(&client->dev, client->irq, vl53l1x_irq_handler,
+ irq_flags | IRQF_NO_THREAD,
+ indio_dev->name, indio_dev);
+ if (ret)
+ return dev_err_probe(&client->dev, ret,
+ "failed to request IRQ\n");
+
+ ret = regmap_write(data->regmap, VL53L1X_SYSTEM__INTERRUPT_CONFIG_GPIO,
+ VL53L1X_INT_NEW_SAMPLE_READY);
+ if (ret)
+ return dev_err_probe(&client->dev, ret,
+ "failed to configure IRQ\n");
+
+ return 0;
+}
+
+static int vl53l1x_probe(struct i2c_client *client)
+{
+ struct vl53l1x_data *data;
+ struct iio_dev *indio_dev;
+ int ret;
+
+ indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+ if (!indio_dev)
+ return -ENOMEM;
+
+ data = iio_priv(indio_dev);
+ data->client = client;
+
+ if (!i2c_check_functionality(client->adapter,
+ I2C_FUNC_SMBUS_READ_I2C_BLOCK |
+ I2C_FUNC_SMBUS_BYTE_DATA))
+ return -EOPNOTSUPP;
+
+ data->regmap = devm_regmap_init_i2c(client, &vl53l1x_regmap_config);
+ if (IS_ERR(data->regmap))
+ return dev_err_probe(&client->dev, PTR_ERR(data->regmap),
+ "regmap initialization failed\n");
+
+ data->vdd_supply = devm_regulator_get(&client->dev, "vdd");
+ if (IS_ERR(data->vdd_supply))
+ return dev_err_probe(&client->dev, PTR_ERR(data->vdd_supply),
+ "Unable to get VDD regulator\n");
+
+ data->xshut_gpio =
+ devm_gpiod_get_optional(&client->dev, "xshut", GPIOD_OUT_HIGH);
+ if (IS_ERR(data->xshut_gpio))
+ return dev_err_probe(&client->dev, PTR_ERR(data->xshut_gpio),
+ "Cannot get xshut GPIO\n");
+
+ ret = vl53l1x_power_on(data);
+ if (ret)
+ return dev_err_probe(&client->dev, ret,
+ "Failed to power on the chip\n");
+
+ ret = devm_add_action_or_reset(&client->dev, vl53l1x_power_off, data);
+ if (ret)
+ return ret;
+
+ ret = vl53l1x_chip_init(data);
+ if (ret)
+ return ret;
+
+ ret = vl53l1x_set_distance_mode(data, VL53L1X_LONG);
+ if (ret)
+ return ret;
+
+ ret = vl53l1x_set_timing_budget(data, 50);
+ if (ret)
+ return ret;
+
+ ret = vl53l1x_set_inter_measurement_ms(data, 50);
+ if (ret)
+ return ret;
+
+ ret = vl53l1x_start_ranging(data);
+ if (ret)
+ return ret;
+
+ ret = devm_add_action_or_reset(&client->dev,
+ vl53l1x_stop_ranging_action, data);
+ if (ret)
+ return ret;
+
+ indio_dev->name = "vl53l1x";
+ indio_dev->info = &vl53l1x_info;
+ indio_dev->channels = vl53l1x_channels;
+ indio_dev->num_channels = ARRAY_SIZE(vl53l1x_channels);
+ indio_dev->modes = INDIO_DIRECT_MODE;
+
+ if (client->irq) {
+ struct iio_trigger *trig;
+
+ init_completion(&data->completion);
+
+ trig = devm_iio_trigger_alloc(&client->dev, "%s-dev%d",
+ indio_dev->name,
+ iio_device_id(indio_dev));
+ if (!trig)
+ return -ENOMEM;
+
+ trig->ops = &vl53l1x_trigger_ops;
+ iio_trigger_set_drvdata(trig, indio_dev);
+ ret = devm_iio_trigger_register(&client->dev, trig);
+ if (ret)
+ return ret;
+
+ indio_dev->trig = iio_trigger_get(trig);
+
+ ret = vl53l1x_configure_irq(client, indio_dev);
+ if (ret)
+ return ret;
+
+ ret = devm_iio_triggered_buffer_setup(&client->dev,
+ indio_dev, NULL,
+ &vl53l1x_trigger_handler,
+ &vl53l1x_buffer_setup_ops);
+ if (ret)
+ return ret;
+ }
+
+ return devm_iio_device_register(&client->dev, indio_dev);
+}
+
+static const struct i2c_device_id vl53l1x_id[] = {
+ { "vl53l1x" },
+ { }
+};
+MODULE_DEVICE_TABLE(i2c, vl53l1x_id);
+
+static const struct of_device_id st_vl53l1x_dt_match[] = {
+ { .compatible = "st,vl53l1x" },
+ { }
+};
+MODULE_DEVICE_TABLE(of, st_vl53l1x_dt_match);
+
+static struct i2c_driver vl53l1x_driver = {
+ .driver = {
+ .name = "vl53l1x-i2c",
+ .of_match_table = st_vl53l1x_dt_match,
+ },
+ .probe = vl53l1x_probe,
+ .id_table = vl53l1x_id,
+};
+module_i2c_driver(vl53l1x_driver);
+
+MODULE_AUTHOR("Siratul Islam <email@sirat.me>");
+MODULE_DESCRIPTION("ST VL53L1X ToF ranging sensor driver");
+MODULE_LICENSE("Dual BSD/GPL");
--
2.53.0
^ permalink raw reply [flat|nested] 7+ messages in thread