This is the IIO driver for devantech srf08 ultrasonic ranger which can be used to measure the distances to an object. The sensor supports I2C with some registers. Supported Features include: - read the distance in ranging mode in centimeters - output of the driver is directly the read value - together with the scale the driver delivers the distance in meters - only the first echo of the nearest object is delivered - set max gain register; userspace enters analogue value - set range registers; userspace enters range in millimeters in 43 mm steps Features not supported by this driver: - ranging mode in inches or in microseconds - ANN mode - change I2C address through this driver - light sensor The driver was added in the directory "proximity" of the iio subsystem in absence of another directory named "distance". There is also a new submenu "distance" Signed-off-by: Andreas Klinger <ak@xxxxxxxxxxxxx> --- drivers/iio/proximity/Kconfig | 15 ++ drivers/iio/proximity/Makefile | 1 + drivers/iio/proximity/srf08.c | 362 +++++++++++++++++++++++++++++++++++++++++ 3 files changed, 378 insertions(+) create mode 100644 drivers/iio/proximity/srf08.c diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig index ef4c73db5b53..7b10a137702b 100644 --- a/drivers/iio/proximity/Kconfig +++ b/drivers/iio/proximity/Kconfig @@ -46,3 +46,18 @@ config SX9500 module will be called sx9500. endmenu + +menu "Distance sensors" + +config SRF08 + tristate "Devantech SRF08 ultrasonic ranger sensor" + depends on I2C + help + Say Y here to build a driver for Devantech SRF08 ultrasonic + ranger sensor. 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 srf08. + +endmenu diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile index 9aadd9a8ee99..e914c2a5dd49 100644 --- a/drivers/iio/proximity/Makefile +++ b/drivers/iio/proximity/Makefile @@ -5,4 +5,5 @@ # When adding new entries keep the list in alphabetical order obj-$(CONFIG_AS3935) += as3935.o obj-$(CONFIG_LIDAR_LITE_V2) += pulsedlight-lidar-lite-v2.o +obj-$(CONFIG_SRF08) += srf08.o obj-$(CONFIG_SX9500) += sx9500.o diff --git a/drivers/iio/proximity/srf08.c b/drivers/iio/proximity/srf08.c new file mode 100644 index 000000000000..f38c74ed0933 --- /dev/null +++ b/drivers/iio/proximity/srf08.c @@ -0,0 +1,362 @@ +/* + * srf08.c - Support for Devantech SRF08 ultrasonic ranger + * + * Copyright (c) 2016 Andreas Klinger <ak@xxxxxxxxxxxxx> + * + * This file is subject to the terms and conditions of version 2 of + * the GNU General Public License. See the file COPYING in the main + * directory of this archive for more details. + * + * For details about the device see: + * http://www.robot-electronics.co.uk/htm/srf08tech.html + */ + +#include <linux/err.h> +#include <linux/i2c.h> +#include <linux/delay.h> +#include <linux/module.h> +#include <linux/bitops.h> +#include <linux/iio/iio.h> +#include <linux/iio/sysfs.h> + +/* registers of SRF08 device */ +#define SRF08_WRITE_COMMAND 0x00 /* Command Register */ +#define SRF08_WRITE_MAX_GAIN 0x01 /* Max Gain Register: 0 .. 31 */ +#define SRF08_WRITE_RANGE 0x02 /* Range Register: 0 .. 255 */ +#define SRF08_READ_SW_REVISION 0x00 /* Software Revision */ +#define SRF08_READ_LIGHT 0x01 /* Light Sensor during last echo */ +#define SRF08_READ_ECHO_1_HIGH 0x02 /* Range of first echo received */ +#define SRF08_READ_ECHO_1_LOW 0x03 /* Range of first echo received */ + +#define SRF08_CMD_RANGING_CM 0x51 /* Ranging Mode - Result in cm */ + +#define SRF08_DEFAULT_GAIN 1025 /* max. analogue value of Gain */ +#define SRF08_DEFAULT_RANGE 11008 /* max. value of Range in mm */ + +struct srf08_data { + struct i2c_client *client; + int gain; /* Max Gain */ + int range_mm; /* Range in mm */ + struct mutex lock; +}; + +static const int srf08_gain[] = { + 94, 97, 100, 103, 107, 110, 114, 118, + 123, 128, 133, 139, 145, 152, 159, 168, + 177, 187, 199, 212, 227, 245, 265, 288, + 317, 352, 395, 450, 524, 626, 777, 1025 }; + +static int srf08_read_ranging(struct srf08_data *data) +{ + struct i2c_client *client = data->client; + int ret, i; + + mutex_lock(&data->lock); + + ret = i2c_smbus_write_byte_data(data->client, + SRF08_WRITE_COMMAND, SRF08_CMD_RANGING_CM); + if (ret < 0) { + dev_err(&client->dev, "write command - err: %d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + /* + * normally after 65 ms the device should have the read value + * we round it up to 100 ms + * + * we read here until a correct version number shows up as + * suggested by the documentation + */ + for (i = 0; i < 5; i++) { + ret = i2c_smbus_read_byte_data(data->client, + SRF08_READ_SW_REVISION); + + /* check if a valid version number is read */ + if (ret < 255 && ret > 0) + break; + msleep(20); + } + + if (ret >= 255 || ret <= 0) { + dev_err(&client->dev, "device not ready\n"); + mutex_unlock(&data->lock); + return -EIO; + } + + ret = i2c_smbus_read_word_swapped(data->client, + SRF08_READ_ECHO_1_HIGH); + if (ret < 0) { + dev_err(&client->dev, "cannot read distance: ret=%d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + mutex_unlock(&data->lock); + + return ret; +} + +static int srf08_read_raw(struct iio_dev *indio_dev, + struct iio_chan_spec const *channel, int *val, + int *val2, long mask) +{ + struct srf08_data *data = iio_priv(indio_dev); + int ret; + + if (channel->type != IIO_DISTANCE) + return -EINVAL; + + switch (mask) { + case IIO_CHAN_INFO_RAW: + ret = srf08_read_ranging(data); + if (ret < 0) + return ret; + *val = ret; + return IIO_VAL_INT; + case IIO_CHAN_INFO_SCALE: + /* 1 LSB is 1 cm */ + *val = 0; + *val2 = 10000; + return IIO_VAL_INT_PLUS_MICRO; + default: + return -EINVAL; + } +} + +static ssize_t srf08_show_range_mm_available(struct device *dev, + struct device_attribute *attr, char *buf) +{ + int i, len = 0; + + for (i = 0; i < 256; i++) + len += scnprintf(buf + len, PAGE_SIZE - len, + "%d ", (i + 1) * 43); + + buf[len - 1] = '\n'; + + return len; +} + +static IIO_DEVICE_ATTR(range_mm_available, S_IRUGO, + srf08_show_range_mm_available, NULL, 0); + +static ssize_t srf08_show_range_mm(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + + return sprintf(buf, "%d\n", data->range_mm); +} + +/* + * set the range of the sensor to an even multiple of 43 mm + * which corresponds to 1 LSB in the register + * + * register value corresponding range + * 0x00 43 mm + * 0x01 86 mm + * 0x02 129 mm + * ... + * 0xFF 11008 mm + */ +static ssize_t srf08_write_range_mm(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + struct i2c_client *client = data->client; + int ret; + unsigned int val, mod; + u8 regval; + + ret = kstrtouint(buf, 10, &val); + if (ret) + return ret; + + ret = val / 43 - 1; + mod = val % 43; + + if (mod || (ret < 0) || (ret > 255)) + return -EINVAL; + + regval = ret; + + mutex_lock(&data->lock); + + ret = i2c_smbus_write_byte_data(data->client, + SRF08_WRITE_RANGE, regval); + if (ret < 0) { + dev_err(&client->dev, "write_range - err: %d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + data->range_mm = val; + + mutex_unlock(&data->lock); + + return len; +} + +static IIO_DEVICE_ATTR(range_mm, S_IRUGO | S_IWUSR, + srf08_show_range_mm, srf08_write_range_mm, 0); + +static ssize_t srf08_show_gain_available(struct device *dev, + struct device_attribute *attr, char *buf) +{ + int i, len = 0; + + for (i = 0; i < ARRAY_SIZE(srf08_gain); i++) + len += sprintf(buf + len, "%d ", srf08_gain[i]); + + len += sprintf(buf + len, "\n"); + + return len; +} + +static IIO_DEVICE_ATTR(gain_available, S_IRUGO, + srf08_show_gain_available, NULL, 0); + +static ssize_t srf08_show_gain(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + int len; + + len = sprintf(buf, "%d\n", data->gain); + + return len; +} + +static ssize_t srf08_write_gain(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t len) +{ + struct iio_dev *indio_dev = dev_to_iio_dev(dev); + struct srf08_data *data = iio_priv(indio_dev); + struct i2c_client *client = data->client; + int ret, i; + unsigned int val; + u8 regval; + + ret = kstrtouint(buf, 10, &val); + if (ret) + return ret; + + for (i = 0; i < ARRAY_SIZE(srf08_gain); i++) + if (val == srf08_gain[i]) { + regval = i; + break; + } + + if (i >= ARRAY_SIZE(srf08_gain)) + return -EINVAL; + + mutex_lock(&data->lock); + + ret = i2c_smbus_write_byte_data(data->client, + SRF08_WRITE_MAX_GAIN, regval); + if (ret < 0) { + dev_err(&client->dev, "write_gain - err: %d\n", ret); + mutex_unlock(&data->lock); + return ret; + } + + data->gain = val; + + mutex_unlock(&data->lock); + + return len; +} + +static IIO_DEVICE_ATTR(gain, S_IRUGO | S_IWUSR, + srf08_show_gain, srf08_write_gain, 0); + +static struct attribute *srf08_attributes[] = { + &iio_dev_attr_range_mm.dev_attr.attr, + &iio_dev_attr_range_mm_available.dev_attr.attr, + &iio_dev_attr_gain.dev_attr.attr, + &iio_dev_attr_gain_available.dev_attr.attr, + NULL, +}; + +static const struct attribute_group srf08_attribute_group = { + .attrs = srf08_attributes, +}; + +static const struct iio_chan_spec srf08_channels[] = { + { + .type = IIO_DISTANCE, + .info_mask_separate = + BIT(IIO_CHAN_INFO_RAW) | + BIT(IIO_CHAN_INFO_SCALE), + }, +}; + +static const struct iio_info srf08_info = { + .read_raw = srf08_read_raw, + .attrs = &srf08_attribute_group, + .driver_module = THIS_MODULE, +}; + +static int srf08_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + struct iio_dev *indio_dev; + struct srf08_data *data; + + if (!i2c_check_functionality(client->adapter, + I2C_FUNC_SMBUS_READ_BYTE_DATA | + I2C_FUNC_SMBUS_WRITE_BYTE_DATA | + I2C_FUNC_SMBUS_READ_WORD_DATA)) + return -ENODEV; + + indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data)); + if (!indio_dev) + return -ENOMEM; + + data = iio_priv(indio_dev); + i2c_set_clientdata(client, indio_dev); + data->client = client; + + /* + * set default values of device here + * these values are already set on the hardware after power on + */ + data->gain = SRF08_DEFAULT_GAIN; + data->range_mm = SRF08_DEFAULT_RANGE; + + indio_dev->name = dev_name(&client->dev); + indio_dev->dev.parent = &client->dev; + indio_dev->modes = INDIO_DIRECT_MODE; + indio_dev->info = &srf08_info; + indio_dev->channels = srf08_channels; + indio_dev->num_channels = ARRAY_SIZE(srf08_channels); + + mutex_init(&data->lock); + + return devm_iio_device_register(&client->dev, indio_dev); +} + +static const struct i2c_device_id srf08_id[] = { + { "srf08", 0 }, + { } +}; +MODULE_DEVICE_TABLE(i2c, srf08_id); + +static struct i2c_driver srf08_driver = { + .driver = { + .name = "srf08", + }, + .probe = srf08_probe, + .id_table = srf08_id, +}; +module_i2c_driver(srf08_driver); + +MODULE_AUTHOR("Andreas Klinger <ak@xxxxxxxxxxxxx>"); +MODULE_DESCRIPTION("Devantech SRF08 ultrasonic ranger driver"); +MODULE_LICENSE("GPL"); -- 2.1.4 -- To unsubscribe from this list: send the line "unsubscribe linux-i2c" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html
