On 1 August 2015 09:39:11 BST, Vladimir Barinov
<vladimir.bari...@cogentembedded.com> wrote:
>Hi Matt,
>
>Find minor comments.
>
>On 01.08.2015 06:58, Matt Ranostay wrote:
>> Add support for the PulsedLight LIDAR rangefinder sensor which allows
>> high speed (over 300Hz) distance measurements using Barker Coding
>within
>> 40 meter range.
>>
>> Support only tested on the "blue label" rev 2, but may work using
>polling
>> at low sample frequencies on the original version.
>>
>> Signed-off-by: Matt Ranostay <mranos...@gmail.com>
>> ---
>> drivers/iio/proximity/Kconfig | 13 ++
>> drivers/iio/proximity/Makefile | 1 +
>> drivers/iio/proximity/lidar.c | 309
>+++++++++++++++++++++++++++++++++++++++++
>Add ABI documentation
>Documentation/ABI/testing/sysfs-bus-iio-proximity-lidar
Why? Reading on phone so may have missed something but all ABI is standard.
Covered by top level docs.
>> 3 files changed, 323 insertions(+)
>> create mode 100644 drivers/iio/proximity/lidar.c
>>
>> diff --git a/drivers/iio/proximity/Kconfig
>b/drivers/iio/proximity/Kconfig
>> index 41a8d8f..8111e11 100644
>> --- a/drivers/iio/proximity/Kconfig
>> +++ b/drivers/iio/proximity/Kconfig
>> @@ -20,6 +20,19 @@ endmenu
>>
>> menu "Proximity sensors"
>>
>> +config LIDAR
>> + tristate "PulsedLight LIDAR sensor"
>> + select IIO_BUFFER
>> + select IIO_TRIGGERED_BUFFER
>> + select REGMAP_I2C
>You did not use REGMAP in your driver.
>Probably it would be better to use this API in your driver since the
>chip seems fully SMBUS compatible.
Unless there is a significant gain don't bother. Now if the device also has an
spi bus
or the driver does extensive caching it would be worthwhile.
>> + 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..e56df58
>> --- /dev/null
>> +++ b/drivers/iio/proximity/lidar.c
>> @@ -0,0 +1,309 @@
>> +/*
>> + * lidar.c - Support for PulsedLight LIDAR range finding sensor
>> + *
>> + * Copyright (C) 2015 Matt Ranostay <mranos...@gmail.com>
>> + *
>> + * 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/module.h>
>> +#include <linux/init.h>
>> +#include <linux/delay.h>
>> +#include <linux/mutex.h>
>> +#include <linux/err.h>
>> +#include <linux/i2c.h>
>> +#include <linux/iio/iio.h>
>> +#include <linux/iio/sysfs.h>
>> +#include <linux/iio/trigger.h>
>> +#include <linux/iio/trigger_consumer.h>
>> +#include <linux/iio/buffer.h>
>> +#include <linux/iio/triggered_buffer.h>
>put it in alphabetic order
>> +
>> +#define LIDAR_REG_CONTROL 0x00
>> +#define LIDAR_REG_CONTROL_ACQUIRE BIT(2)
>tab aligned
>> +
>> +#define LIDAR_REG_STATUS 0x01
>> +#define LIDAR_REG_STATUS_RDY BIT(0)
>> +
>> +#define LIDAR_REG_DATA_HBYTE 0x0f
>> +#define LIDAR_REG_DATA_LBYTE 0x10
>> +#define LIDAR_REG_DATA_MAX 0xffff
>> +
>> +#define LIDAR_DRV_NAME "lidar"
>> +
>> +struct lidar_data {
>> + struct mutex lock;
>> + struct iio_dev *indio_dev;
>> + struct i2c_client *client;
>> +
>> + /* config */
>> + int calib_bias;
>> +
>> + u16 buffer[5]; /* 2 byte distance + 8 byte timestamp */
>> +};
>> +
>> +static const struct iio_chan_spec lidar_channels[] = {
>> + {
>> + .type = IIO_DISTANCE,
>> + .info_mask_separate =
>> + BIT(IIO_CHAN_INFO_RAW) | BIT(IIO_CHAN_INFO_CALIBBIAS),
>> + .scan_index = 0,
>> + .scan_type = {
>> + .sign = 'u',
>> + .realbits = 16,
>> + .storagebits = 16,
>> + },
>> + },
>> + IIO_CHAN_SOFT_TIMESTAMP(1),
>> +};
>> +
>> +static inline 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;
>> +
>> + 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;
>> +
>> + /* correct any possible overflow or underflow */
>> + val += data->calib_bias / 10000;
>> + if (val < 0)
>> + val = 0;
>> +
>> + if (val > LIDAR_REG_DATA_MAX)
>> + val = LIDAR_REG_DATA_MAX;
>> +
>> + *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;
>> +
>> + /* sample ready to read */
>> + if (!(ret & LIDAR_REG_STATUS_RDY)) {
>> + ret = lidar_read_measurement(data, reg);
>> + break;
>> + }
>> + }
>> +
>> + 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;
>> +
>> + if (iio_buffer_enabled(indio_dev) && mask == IIO_CHAN_INFO_RAW)
>> + return -EBUSY;
>> +
>> + mutex_lock(&data->lock);
>> +
>> + switch (mask) {
>> + case IIO_CHAN_INFO_RAW: {
>> + u16 reg;
>> +
>> + ret = lidar_get_measurement(data, ®);
>> + if (!ret) {
>> + *val = reg / 100;
>> + *val2 = (reg % 100) * 10000;
>> + ret = IIO_VAL_INT_PLUS_MICRO;
>> + }
>> + break;
>> + }
>> + case IIO_CHAN_INFO_CALIBBIAS:
>> + *val = 0;
>> + *val2 = data->calib_bias;
>> + ret = IIO_VAL_INT_PLUS_MICRO;
>> + break;
>> + }
>> +
>> + mutex_unlock(&data->lock);
>> +
>> + return ret;
>> +}
>> +
>> +static int lidar_write_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);
>> +
>> + if (mask == IIO_CHAN_INFO_CALIBBIAS) {
>> + if (val != 0)
>> + return -EINVAL;
>> +
>> + /* cm increments only */
>> + if (val2 % 10000)
>> + return -EINVAL;
>> +
>> + mutex_lock(&data->lock);
>> + data->calib_bias = val2;
>> + mutex_unlock(&data->lock);
>> + return 0;
>> + }
>> +
>> + return -EINVAL;
>> +}
>> +
>> +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 struct iio_info lidar_info = {
>> + .driver_module = THIS_MODULE,
>> + .read_raw = lidar_read_raw,
>> + .write_raw = lidar_write_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 struct i2c_driver lidar_driver = {
>> + .driver = {
>> + .name = LIDAR_DRV_NAME,
>> + .owner = THIS_MODULE,
>the .owner field is not needed since it is overridden in
>i2c_register_driver
>> + },
>> + .probe = lidar_probe,
>> + .remove = lidar_remove,
>> + .id_table = lidar_id,
>> +};
>> +module_i2c_driver(lidar_driver);
>> +
>> +MODULE_AUTHOR("Matt Ranostay <mranos...@gmail.com>");
>> +MODULE_DESCRIPTION("PulsedLight LIDAR sensor");
>> +MODULE_LICENSE("GPL");
>
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