On 14/01/17 17:48, Andreas Klinger wrote: > Hi Jonathan, > > see comments below. > > Andreas > > > Jonathan Cameron <jic23@xxxxxxxxxx> schrieb am Sat, 14. Jan 12:17: >> On 10/01/17 18:48, Andreas Klinger wrote: >>> 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" >> Hi Andreas, >> >> Sorry it took me a while to get to this! >> >> I'd not bother with the new submenu. Perhaps we should rename the >> proximity menu to proximity/distance. >> >> We already the lightening detector in there which is definitely not >> measuring proximity in the convetional sense! >> >> Anyhow, the actual code is fine, but we need to think about how the >> userspace ABI fits within the wider IIO ABI. Naming and approaches >> that make sense in a single class of drivers can end up meaining >> very different things for other drivers. Various suggestions inline. >> >> Jonathan >>> >>> 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 >> I'd suggest this should be adapted so that it takes advantage of knowing >> roughly how long it is going to take as the 'range' maximum is changed. >> So perhaps in the basic case, sleep for 65 msecs, then poll at 5msec >> intervals. If we know it's going to be a lot faster, then poll it from >> an earlier time. >>> + * >>> + * 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, >> Hmm. Custom attributes always give us issues. The primary point of IIO >> is to enforce (more or less) standard interfaces. >> >> If you do need to add something new then that is fine (and I do think >> you need to here!). >> >> They need to be formally proposed as an addition to the ABI with >> docs in /Documentation/ABI/testing/sysfs-bus-iio* >> >> Once we take one driver using it it becomes part of our ABI that >> userspace will need to handle, hence we consider these very >> carefully. >> >> My gut feeling would be that gain needs to be more specific as it's >> a term that can mean very different things.. Here we are talking >> about an amplifier on a signal that we are then looking at the timing >> of. It might otherwise be interpretted as another term for what >> we term 'scale' in IIO. >> >> So what to call it... Perhaps afegain for Analog front end gain? >> We might want to add this to the core supported attrs, but lets >> not do so until we see if we have this on a number of devices. >> > > In /Documentation/ABI/testing/sysfs-bus-iio-proximity-as3935 there is also a > gain used in a similar situation and it's called there "sensor_sensitivity" > > What it we also use this name here? It's not ideal as it's not linked to a particular channel or anything, but lets go with that as at least we will be consistent between drivers. > >> The description would need to make it explicit that this gain is >> for cases where we aren't measuring the magnitude of what is >> being amplified. >> >> For the range, it's an interesting one. Again the term range could >> mean too many things within the wider ABI. We need to make it more >> specific. >> >> Actually reading the datasheet, I think this is fundamentally about the >> maximum sampling frequency rather than directly about the range. >> The only reason you'd reduce the range is to speed that up. It doesn't >> improve the resolution, the device simply answers quicker. >> >> So I'd support this as sampling_frequency. You could then use >> the the iio_info_mask_*_available and relevant callback to provide >> info on what it then restricts the possible output values to >> (rather than controlling it directly). >> > > By changing the range one cannot influence the sampling frequency directly. I > have seen on the oszilloscope that the telegrams arrive almost at the same time > with different settings of range and the same gain. > > Only if the gain is also adjusted the sensor works faster and a higher frequency > can be used. But the gain is also used to adjust the sensitivity of the sensor. That's rather weird and not what the datasheet suggests. Ah well. > > What about calling it "sensor_domain" or "sensor_max_range"? hmm. Not sure - propose that with appropriate Docs and we can think more on it. > > >>> + 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; >> We should be a little careful with assumptions about the device having >> just been powered on. The driver might simply have been removed and >> reprobed. So I'd sugest rewriting them whatever to be sure we have >> what we expect. Either that or if they can be read back, then just >> always retrieve them from the device. > > You are right. > Then i'll set the default value at the sensor, because it cannot be read. > >>> + >>> + 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"); >>> >> > -- To unsubscribe from this list: send the line "unsubscribe linux-iio" in the body of a message to majordomo@xxxxxxxxxxxxxxx More majordomo info at http://vger.kernel.org/majordomo-info.html
