On Sun, 17 Mar 2019 21:38:03 +0100 Andreas Klinger <ak@xxxxxxxxxxxxx> wrote: > Add I2CXL-MaxSonar ultrasonic distance sensors of types mb1202, mb1212, > mb1222, mb1232, mb1242, mb7040, mb7137 using an i2c interface > > Implemented functionality: > - reading the distance via in_distance_raw > - buffered mode with trigger > - make use of interrupt to announce completion of ranging > > Add mb1232 driver to Kconfig and Makefile > > Signed-off-by: Andreas Klinger <ak@xxxxxxxxxxxxx> A few really minor tweaks inline. Applied to the togreg branch of iio.git and pushed out as testing for the autobuilders to play with. Thanks, Jonathan > --- > drivers/iio/proximity/Kconfig | 12 ++ > drivers/iio/proximity/Makefile | 1 + > drivers/iio/proximity/mb1232.c | 274 +++++++++++++++++++++++++++++++++++++++++ > 3 files changed, 287 insertions(+) > create mode 100644 drivers/iio/proximity/mb1232.c > > diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig > index b99367a89f81..12a3d3d40a91 100644 > --- a/drivers/iio/proximity/Kconfig > +++ b/drivers/iio/proximity/Kconfig > @@ -45,6 +45,18 @@ config LIDAR_LITE_V2 > To compile this driver as a module, choose M here: the > module will be called pulsedlight-lite-v2 > > +config MB1232 > + tristate "MaxSonar I2CXL family ultrasonic sensors" > + depends on I2C > + help > + Say Y to build a driver for the ultrasonic sensors I2CXL of > + MaxBotix which have an i2c interface. It can be used to measure > + the distance of objects. Supported types are mb1202, mb1212, > + mb1222, mb1232, mb1242, mb7040, mb7137 > + > + To compile this driver as a module, choose M here: the > + module will be called mb1232. > + > config RFD77402 > tristate "RFD77402 ToF sensor" > depends on I2C > diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile > index 6d031f903c4c..0bb5f9de13d6 100644 > --- a/drivers/iio/proximity/Makefile > +++ b/drivers/iio/proximity/Makefile > @@ -7,6 +7,7 @@ > obj-$(CONFIG_AS3935) += as3935.o > obj-$(CONFIG_ISL29501) += isl29501.o > obj-$(CONFIG_LIDAR_LITE_V2) += pulsedlight-lidar-lite-v2.o > +obj-$(CONFIG_MB1232) += mb1232.o > obj-$(CONFIG_RFD77402) += rfd77402.o > obj-$(CONFIG_SRF04) += srf04.o > obj-$(CONFIG_SRF08) += srf08.o > diff --git a/drivers/iio/proximity/mb1232.c b/drivers/iio/proximity/mb1232.c > new file mode 100644 > index 000000000000..d061cb16da93 > --- /dev/null > +++ b/drivers/iio/proximity/mb1232.c > @@ -0,0 +1,274 @@ > +// SPDX-License-Identifier: GPL-2.0+ > +/* > + * mb1232.c - Support for MaxBotix I2CXL-MaxSonar-EZ series ultrasonic > + * ranger with i2c interface > + * actually tested with mb1232 type > + * > + * Copyright (c) 2019 Andreas Klinger <ak@xxxxxxxxxxxxx> > + * > + * For details about the device see: > + * https://www.maxbotix.com/documents/I2CXL-MaxSonar-EZ_Datasheet.pdf > + * Nitpick of the day. This line adds nothing ;) > + */ > + > +#include <linux/err.h> > +#include <linux/i2c.h> > +#include <linux/of_irq.h> > +#include <linux/delay.h> > +#include <linux/module.h> > +#include <linux/bitops.h> > +#include <linux/iio/iio.h> > +#include <linux/iio/sysfs.h> > +#include <linux/iio/buffer.h> > +#include <linux/iio/trigger_consumer.h> > +#include <linux/iio/triggered_buffer.h> > + > +/* registers of MaxSonar device */ > +#define MB1232_RANGE_COMMAND 0x51 /* Command for reading range */ > +#define MB1232_ADDR_UNLOCK_1 0xAA /* Command 1 for changing address */ > +#define MB1232_ADDR_UNLOCK_2 0xA5 /* Command 2 for changing address */ > + > +struct mb1232_data { > + struct i2c_client *client; > + > + struct mutex lock; > + > + /* > + * optionally a gpio can be used to announce when ranging has > + * finished > + * since we are just using the falling trigger of it we request > + * only the interrupt for announcing when data is ready to be read > + */ > + struct completion ranging; > + int irqnr; > +}; > + > +static irqreturn_t mb1232_handle_irq(int irq, void *dev_id) > +{ > + struct iio_dev *indio_dev = dev_id; > + struct mb1232_data *data = iio_priv(indio_dev); > + > + complete(&data->ranging); > + > + return IRQ_HANDLED; > +} > + > +static s16 mb1232_read_distance(struct mb1232_data *data) > +{ > + struct i2c_client *client = data->client; > + int ret; > + s16 distance; > + __be16 buf; > + > + mutex_lock(&data->lock); > + > + reinit_completion(&data->ranging); > + > + ret = i2c_smbus_write_byte(client, MB1232_RANGE_COMMAND); > + if (ret < 0) { > + dev_err(&client->dev, "write command - err: %d\n", ret); > + goto error_unlock; > + } > + > + if (data->irqnr >= 0) { > + /* it cannot take more than 100 ms */ > + ret = wait_for_completion_killable_timeout(&data->ranging, > + HZ/10); > + if (ret < 0) > + goto error_unlock; > + else if (ret == 0) { > + ret = -ETIMEDOUT; > + goto error_unlock; > + } > + } else { > + /* use simple sleep if announce irq is not connected */ > + msleep(15); > + } > + > + ret = i2c_master_recv(client, (char *)&buf, sizeof(buf)); > + if (ret < 0) { > + dev_err(&client->dev, "i2c_master_recv: ret=%d\n", ret); > + goto error_unlock; > + } > + > + distance = __be16_to_cpu(buf); > + /* check for not returning misleading error codes */ > + if (distance < 0) { > + dev_err(&client->dev, "distance=%d\n", distance); > + ret = -EINVAL; > + goto error_unlock; > + } > + > + mutex_unlock(&data->lock); > + > + return distance; > + > +error_unlock: > + mutex_unlock(&data->lock); > + > + return ret; > +} > + > +static irqreturn_t mb1232_trigger_handler(int irq, void *p) > +{ > + struct iio_poll_func *pf = p; > + struct iio_dev *indio_dev = pf->indio_dev; > + struct mb1232_data *data = iio_priv(indio_dev); > + /* > + * triggered buffer > + * 16-bit channel + 48-bit padding + 64-bit timestamp > + */ > + s16 buffer[8]; I'm going to tweak this ever so slightly to force it being set to 0. Otherwise we have a kernel data leak. = {0,}; should do the job. > + > + buffer[0] = mb1232_read_distance(data); > + if (buffer[0] < 0) > + goto err; > + > + iio_push_to_buffers_with_timestamp(indio_dev, buffer, pf->timestamp); > + > +err: > + iio_trigger_notify_done(indio_dev->trig); > + return IRQ_HANDLED; > +} > + > +static int mb1232_read_raw(struct iio_dev *indio_dev, > + struct iio_chan_spec const *channel, int *val, > + int *val2, long mask) > +{ > + struct mb1232_data *data = iio_priv(indio_dev); > + int ret; > + > + if (channel->type != IIO_DISTANCE) > + return -EINVAL; > + > + switch (mask) { > + case IIO_CHAN_INFO_RAW: > + ret = mb1232_read_distance(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 const struct iio_chan_spec mb1232_channels[] = { > + { > + .type = IIO_DISTANCE, > + .info_mask_separate = > + BIT(IIO_CHAN_INFO_RAW) | > + BIT(IIO_CHAN_INFO_SCALE), Plenty of room to not have this on as many lines.. > + .scan_index = 0, > + .scan_type = { > + .sign = 's', > + .realbits = 16, > + .storagebits = 16, > + .endianness = IIO_CPU, > + }, > + }, > + IIO_CHAN_SOFT_TIMESTAMP(1), > +}; > + > +static const struct iio_info mb1232_info = { > + .read_raw = mb1232_read_raw, > +}; > + > +static int mb1232_probe(struct i2c_client *client, > + const struct i2c_device_id *id) > +{ > + struct iio_dev *indio_dev; > + struct mb1232_data *data; > + int ret; > + struct device *dev = &client->dev; > + > + if (!i2c_check_functionality(client->adapter, > + I2C_FUNC_SMBUS_READ_BYTE | > + I2C_FUNC_SMBUS_WRITE_BYTE)) > + return -ENODEV; > + > + indio_dev = devm_iio_device_alloc(dev, sizeof(*data)); > + if (!indio_dev) > + return -ENOMEM; > + > + data = iio_priv(indio_dev); > + i2c_set_clientdata(client, indio_dev); > + data->client = client; > + > + indio_dev->info = &mb1232_info; > + indio_dev->name = id->name; > + indio_dev->dev.parent = dev; > + indio_dev->modes = INDIO_DIRECT_MODE; > + indio_dev->channels = mb1232_channels; > + indio_dev->num_channels = ARRAY_SIZE(mb1232_channels); > + > + mutex_init(&data->lock); > + > + init_completion(&data->ranging); > + > + data->irqnr = irq_of_parse_and_map(dev->of_node, 0); > + if (data->irqnr <= 0) { > + /* usage of interrupt is optional */ > + data->irqnr = -1; > + } else { > + ret = devm_request_irq(dev, data->irqnr, mb1232_handle_irq, > + IRQF_TRIGGER_FALLING, id->name, indio_dev); > + if (ret < 0) { > + dev_err(dev, "request_irq: %d\n", ret); > + return ret; > + } > + } > + > + ret = devm_iio_triggered_buffer_setup(dev, indio_dev, > + iio_pollfunc_store_time, mb1232_trigger_handler, NULL); > + if (ret < 0) { > + dev_err(dev, "setup of iio triggered buffer failed\n"); > + return ret; > + } > + > + return devm_iio_device_register(dev, indio_dev); > +} > + > +static const struct of_device_id of_mb1232_match[] = { > + { .compatible = "maxbotix,mb1202", }, > + { .compatible = "maxbotix,mb1212", }, > + { .compatible = "maxbotix,mb1222", }, > + { .compatible = "maxbotix,mb1232", }, > + { .compatible = "maxbotix,mb1242", }, > + { .compatible = "maxbotix,mb7040", }, > + { .compatible = "maxbotix,mb7137", }, > + {}, > +}; > + > +MODULE_DEVICE_TABLE(of, of_mb1232_match); > + > +static const struct i2c_device_id mb1232_id[] = { > + { "maxbotix-mb1202", }, > + { "maxbotix-mb1212", }, > + { "maxbotix-mb1222", }, > + { "maxbotix-mb1232", }, > + { "maxbotix-mb1242", }, > + { "maxbotix-mb7040", }, > + { "maxbotix-mb7137", }, > + { } > +}; > +MODULE_DEVICE_TABLE(i2c, mb1232_id); > + > +static struct i2c_driver mb1232_driver = { > + .driver = { > + .name = "maxbotix-mb1232", > + .of_match_table = of_mb1232_match, > + }, > + .probe = mb1232_probe, > + .id_table = mb1232_id, > +}; > +module_i2c_driver(mb1232_driver); > + > +MODULE_AUTHOR("Andreas Klinger <ak@xxxxxxxxxxxxx>"); > +MODULE_DESCRIPTION("Maxbotix I2CXL-MaxSonar i2c ultrasonic ranger driver"); > +MODULE_LICENSE("GPL");
