On Sat, Aug 1, 2015 at 2:17 PM, Jonathan Cameron
<ji...@jic23.retrosnub.co.uk> wrote:
>
>
>
> 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.
Only thing that would be documented that IIO_DISTANCE is in meters.
But seems standard.
>
>>> 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.
Correctly, none of the the data is cacheable so regmap doesn't make sense here.
>
>>> + 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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>
> --
> Sent from my Android device with K-9 Mail. Please excuse my brevity.
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