Re: [PATCH v3 2/2] iio: proximity: add support for PulsedLight LIDAR

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On Tue, Aug 4, 2015 at 12:27 AM, Peter Meerwald <pmeerw@xxxxxxxxxx> wrote:
>
>> Add support for the PulsedLight LIDAR rangefinder sensor which allows
>> high speed (over 300Hz) distance measurements using Barker Coding within
>> 40 meter range.
>
> comments inline
>
>> Support only tested on the "blue label" rev 2, but may work using low
>> sample frequencies on the original version.
>>
>> Signed-off-by: Matt Ranostay <mranostay@xxxxxxxxx>
>> ---
>>  drivers/iio/proximity/Kconfig  |  12 ++
>>  drivers/iio/proximity/Makefile |   1 +
>>  drivers/iio/proximity/lidar.c  | 295 +++++++++++++++++++++++++++++++++++++++++
>>  3 files changed, 308 insertions(+)
>>  create mode 100644 drivers/iio/proximity/lidar.c
>>
>> diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
>> index 41a8d8f..e64fc5b 100644
>> --- a/drivers/iio/proximity/Kconfig
>> +++ b/drivers/iio/proximity/Kconfig
>> @@ -20,6 +20,18 @@ endmenu
>>
>>  menu "Proximity sensors"
>>
>> +config LIDAR
>> +     tristate "PulsedLight LIDAR sensor"
>> +     select IIO_BUFFER
>> +     select IIO_TRIGGERED_BUFFER
>> +     depends on I2C
>> +     help
>> +       Say Y to build a driver for PulsedLight LIDAR range finding
>> +       sensor.
>> +
>> +       To compile this driver as a module, choose M here: the
>> +       module will be called lidar.
>> +
>>  config SX9500
>>       tristate "SX9500 Semtech proximity sensor"
>>       select IIO_BUFFER
>> diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile
>> index 9818dc5..36a95f3 100644
>> --- a/drivers/iio/proximity/Makefile
>> +++ b/drivers/iio/proximity/Makefile
>> @@ -4,4 +4,5 @@
>>
>>  # When adding new entries keep the list in alphabetical order
>>  obj-$(CONFIG_AS3935)         += as3935.o
>> +obj-$(CONFIG_LIDAR)          += lidar.o
>>  obj-$(CONFIG_SX9500)         += sx9500.o
>> diff --git a/drivers/iio/proximity/lidar.c b/drivers/iio/proximity/lidar.c
>> new file mode 100644
>> index 0000000..133e016
>> --- /dev/null
>> +++ b/drivers/iio/proximity/lidar.c
>> @@ -0,0 +1,295 @@
>> +/*
>> + * lidar.c - Support for PulsedLight LIDAR range finding sensor
>> + *
>> + * Copyright (C) 2015 Matt Ranostay <mranostay@xxxxxxxxx>
>> + *
>> + * This program is free software; you can redistribute it and/or modify
>> + * it under the terms of the GNU General Public License as published by
>> + * the Free Software Foundation; either version 2 of the License, or
>> + * (at your option) any later version.
>> + *
>> + * This program is distributed in the hope that it will be useful,
>> + * but WITHOUT ANY WARRANTY; without even the implied warranty of
>> + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
>> + * GNU General Public License for more details.
>> + *
>> + * TODO: runtime pm, interrupt mode, and signal strength reporting
>> + *
>> + */
>> +
>> +#include <linux/err.h>
>> +#include <linux/init.h>
>> +#include <linux/i2c.h>
>> +#include <linux/delay.h>
>> +#include <linux/mutex.h>
>> +#include <linux/module.h>
>> +#include <linux/iio/iio.h>
>> +#include <linux/iio/sysfs.h>
>> +#include <linux/iio/buffer.h>
>> +#include <linux/iio/trigger.h>
>> +#include <linux/iio/triggered_buffer.h>
>> +#include <linux/iio/trigger_consumer.h>
>> +
>> +#define LIDAR_REG_CONTROL            0x00
>> +#define LIDAR_REG_CONTROL_ACQUIRE    BIT(2)
>> +
>> +#define LIDAR_REG_STATUS             0x01
>> +#define LIDAR_REG_STATUS_INVALID     BIT(3)
>> +#define LIDAR_REG_STATUS_READY               BIT(0)
>> +
>> +#define LIDAR_REG_DATA_HBYTE 0x0f
>> +#define LIDAR_REG_DATA_LBYTE 0x10
>> +
>> +#define LIDAR_DRV_NAME "lidar"
>> +
>> +struct lidar_data {
>> +     struct mutex lock;
>> +     struct iio_dev *indio_dev;
>> +     struct i2c_client *client;
>> +
>> +     u16 buffer[5]; /* 2 byte distance + 8 byte timestamp */
>
> at least 16 bytes are necessary; the timestamp is 8-byte aligned by
> iio_push_to_buffers_with_timestamp()
>
Ok noted will be fixed in v5.

>> +};
>> +
>> +static const struct iio_chan_spec lidar_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 lidar_read_byte(struct lidar_data *data, int reg)
>> +{
>> +     struct i2c_client *client = data->client;
>> +     int ret;
>> +
>> +     ret = i2c_smbus_write_byte(client, reg);
>> +     if (ret < 0) {
>> +             dev_err(&client->dev, "cannot write addr value");
>> +             return ret;
>> +     }
>> +
>> +     ret = i2c_smbus_read_byte(client);
>> +     if (ret < 0) {
>> +             dev_err(&client->dev, "cannot read data value");
>> +             return ret;
>> +     }
>> +
>> +     return ret;
>> +}
>> +
>> +static inline int lidar_write_control(struct lidar_data *data, int val)
>> +{
>> +     return i2c_smbus_write_byte_data(data->client, LIDAR_REG_CONTROL, val);
>> +}
>> +
>> +static int lidar_read_measurement(struct lidar_data *data, u16 *reg)
>> +{
>> +     int ret;
>> +     int val;
>> +
>> +     /*
>> +      * Device needs a STOP condition between address write, and data read
>> +      * so in turn i2c_smbus_read_byte_data cannot be used
>> +      */
>> +
>> +     ret = lidar_read_byte(data, LIDAR_REG_DATA_HBYTE);
>> +     if (ret < 0)
>> +             return ret;
>> +     val = ret << 8;
>> +
>> +     ret = lidar_read_byte(data, LIDAR_REG_DATA_LBYTE);
>> +     if (ret < 0)
>> +             return ret;
>> +
>> +     val |= ret;
>> +     *reg = val;
>> +
>> +     return 0;
>> +}
>> +
>> +static int lidar_get_measurement(struct lidar_data *data, u16 *reg)
>> +{
>> +     struct i2c_client *client = data->client;
>> +     int tries = 10;
>> +     int ret;
>> +
>> +     /* start sample */
>> +     ret = lidar_write_control(data, LIDAR_REG_CONTROL_ACQUIRE);
>> +     if (ret < 0) {
>> +             dev_err(&client->dev, "cannot send start measurement command");
>> +             return ret;
>> +     }
>> +
>> +     while (tries--) {
>> +             usleep_range(1000, 2000);
>> +
>> +             ret = lidar_read_byte(data, LIDAR_REG_STATUS);
>> +             if (ret < 0)
>> +                     break;
>> +
>> +             /* return 0 since laser is likely pointed out of range */
>> +             if (ret & LIDAR_REG_STATUS_INVALID) {
>> +                     *reg = 0;
>> +                     ret = 0;
>> +                     break;
>> +             }
>> +
>> +             /* sample ready to read */
>> +             if (!(ret & LIDAR_REG_STATUS_READY)) {
>> +                     ret = lidar_read_measurement(data, reg);
>> +                     break;
>> +             }
>> +             ret = -EIO;
>> +     }
>> +
>> +     return ret;
>> +}
>> +
>> +static int lidar_read_raw(struct iio_dev *indio_dev,
>> +                       struct iio_chan_spec const *chan,
>> +                       int *val, int *val2, long mask)
>> +{
>> +     struct lidar_data *data = iio_priv(indio_dev);
>> +     int ret = -EINVAL;
>> +
>> +     mutex_lock(&data->lock);
>> +
>> +     if (iio_buffer_enabled(indio_dev) && mask == IIO_CHAN_INFO_RAW) {
>> +             ret = -EBUSY;
>> +             goto error_busy;
>> +     }
>> +
>
> extra newline
>
Yeah noticed right after submitting :).

>> +
>> +     switch (mask) {
>> +     case IIO_CHAN_INFO_RAW: {
>> +             u16 reg;
>> +
>> +             ret = lidar_get_measurement(data, &reg);
>> +             if (!ret) {
>> +                     *val = reg;
>> +                     ret = IIO_VAL_INT;
>> +             }
>> +             break;
>> +     }
>> +     case IIO_CHAN_INFO_SCALE:
>> +             *val = 0;
>> +             *val2 = 10000;
>> +             ret = IIO_VAL_INT_PLUS_MICRO;
>> +             break;
>> +     }
>> +
>> +error_busy:
>> +     mutex_unlock(&data->lock);
>> +
>> +     return ret;
>> +}
>> +
>> +static irqreturn_t lidar_trigger_handler(int irq, void *private)
>> +{
>> +     struct iio_poll_func *pf = private;
>> +     struct iio_dev *indio_dev = pf->indio_dev;
>> +     struct lidar_data *data = iio_priv(indio_dev);
>> +     int ret;
>> +
>> +     ret = lidar_get_measurement(data, &data->buffer[0]);
>> +     if (!ret) {
>> +             iio_push_to_buffers_with_timestamp(indio_dev, data->buffer,
>> +                                                iio_get_time_ns());
>> +     } else {
>> +             dev_err(&data->client->dev, "cannot read LIDAR measurement");
>> +     }
>> +
>> +     iio_trigger_notify_done(indio_dev->trig);
>> +
>> +     return IRQ_HANDLED;
>> +}
>> +
>> +static const struct iio_info lidar_info = {
>> +     .driver_module = THIS_MODULE,
>> +     .read_raw = lidar_read_raw,
>> +};
>> +
>> +static int lidar_probe(struct i2c_client *client,
>> +                    const struct i2c_device_id *id)
>> +{
>> +     struct lidar_data *data;
>> +     struct iio_dev *indio_dev;
>> +     int ret;
>> +
>> +     indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
>> +     if (!indio_dev)
>> +             return -ENOMEM;
>> +
>> +     indio_dev->info = &lidar_info;
>> +     indio_dev->name = LIDAR_DRV_NAME;
>> +     indio_dev->channels = lidar_channels;
>> +     indio_dev->num_channels = ARRAY_SIZE(lidar_channels);
>> +     indio_dev->modes = INDIO_DIRECT_MODE;
>> +
>> +     data = iio_priv(indio_dev);
>> +     i2c_set_clientdata(client, indio_dev);
>> +
>> +     data->client = client;
>> +     data->indio_dev = indio_dev;
>> +     mutex_init(&data->lock);
>> +
>> +     ret = iio_triggered_buffer_setup(indio_dev, NULL,
>> +                                      lidar_trigger_handler, NULL);
>> +     if (ret)
>> +             return ret;
>> +
>> +     ret = iio_device_register(indio_dev);
>> +     if (ret)
>> +             goto error_unreg_buffer;
>> +
>> +     return 0;
>> +
>> +error_unreg_buffer:
>> +     iio_triggered_buffer_cleanup(indio_dev);
>> +
>> +     return ret;
>> +}
>> +
>> +static int lidar_remove(struct i2c_client *client)
>> +{
>> +     struct iio_dev *indio_dev = i2c_get_clientdata(client);
>> +
>> +     iio_device_unregister(indio_dev);
>> +     iio_triggered_buffer_cleanup(indio_dev);
>> +
>> +     return 0;
>> +}
>> +
>> +static const struct i2c_device_id lidar_id[] = {
>> +     {"lidar", 0},
>> +     { },
>> +};
>> +MODULE_DEVICE_TABLE(i2c, lidar_id);
>> +
>> +static const struct of_device_id lidar_dt_ids[] = {
>> +     { .compatible = "pulsedlight,lidar" },
>> +     { }
>> +};
>> +
>> +static struct i2c_driver lidar_driver = {
>> +     .driver = {
>> +             .name   = LIDAR_DRV_NAME,
>> +             .of_match_table = of_match_ptr(lidar_dt_ids),
>> +     },
>> +     .probe          = lidar_probe,
>> +     .remove         = lidar_remove,
>> +     .id_table       = lidar_id,
>> +};
>> +module_i2c_driver(lidar_driver);
>> +
>> +MODULE_AUTHOR("Matt Ranostay <mranostay@xxxxxxxxx>");
>> +MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
>> +MODULE_LICENSE("GPL");
>>
>
> --
>
> Peter Meerwald
> +43-664-2444418 (mobile)
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