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drivers: sensors: add ST VL53L1X TOF sensor
Adds Zephyr platform driver for VL51L1X TOF sensor, based on ST's driver API (see UM2356) Signed-off-by: Chris Schramm <[email protected]>
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‎drivers/sensor/CMakeLists.txt‎

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@@ -55,5 +55,6 @@ add_subdirectory_ifdef(CONFIG_TH02 th02)
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add_subdirectory_ifdef(CONFIG_TMP007 tmp007)
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add_subdirectory_ifdef(CONFIG_TMP112 tmp112)
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add_subdirectory_ifdef(CONFIG_VL53L0X vl53l0x)
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add_subdirectory_ifdef(CONFIG_VL53L1X vl53l1x)
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zephyr_sources_ifdef(CONFIG_USERSPACE sensor_handlers.c)

‎drivers/sensor/Kconfig‎

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source "drivers/sensor/vl53l0x/Kconfig"
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source "drivers/sensor/vl53l1x/Kconfig"
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endif # SENSOR

‎drivers/sensor/vl53l1x/CMakeLists.txt‎

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# SPDX-License-Identifier: Apache-2.0
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zephyr_library()
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zephyr_library_sources(
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vl53l1.c
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vl53l1_platform.c
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)

‎drivers/sensor/vl53l1x/Kconfig‎

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# Kconfig - VL53L1X time of flight sensor configuration options
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#
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# Copyright (c) 2019 Makaio GmbH
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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menuconfig VL53L1X
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bool "VL53L1X time of flight sensor"
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depends on I2C && HAS_DTS_I2C
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select HAS_STLIB
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help
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Enable driver for VL53L1X I2C-based time of flight sensor.
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if VL53L1X
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config VL53L1X_XSHUT_CONTROL_ENABLE
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bool "Enable XSHUT pin control"
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help
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Enable it if XSHUT pin is controlled by host.
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config VL53L1X_XSHUT_GPIO_DEV_NAME
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string "GPIO device"
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depends on VL53L1X_XSHUT_CONTROL_ENABLE
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help
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The device name of the GPIO device to which the VL53L1X xshut pin
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is connected.
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config VL53L1X_XSHUT_GPIO_PIN_NUM
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int "Interrupt GPIO pin number"
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depends on VL53L1X_XSHUT_CONTROL_ENABLE
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help
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The number of the GPIO on which the xshut signal from the VL53L1X
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is connected.
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config VL53L1X_PROXIMITY_THRESHOLD
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int "Proximity threshold in millimeters"
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default 100
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help
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Threshold used for proximity detection when sensor is used with SENSOR_CHAN_PROX.
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config VL53L1X_MEAS_TIMING_BUDGET
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int "Default measurement timing budget"
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default 50
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help
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Timing budget for measurements in ms.
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Can be overridden in dts with measurement-timing-budget.
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config VL53L1X_INTERMEASUREMENT_PERIOD
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int "Inter measurement period in ms"
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default 500
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help
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Time between measurements in ms. Must be > timing budget + 4ms.
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Can be overridden in dts with inter-measurement-period.
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endif # VL53L1X

‎drivers/sensor/vl53l1x/vl53l1.c‎

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/* vl53l1.c - Driver for ST VL53L1X time of flight sensor */
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/*
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* Copyright (c) 2017 STMicroelectronics
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* Copyright (c) 2019 Makaio GmbH
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <errno.h>
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#include <kernel.h>
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#include <drivers/i2c.h>
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#include <drivers/sensor.h>
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#include <init.h>
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#include <drivers/gpio.h>
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#include <sys/__assert.h>
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#include <zephyr/types.h>
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#include <device.h>
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#include <logging/log.h>
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#include "vl53l1_api.h"
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#include "vl53l1_platform.h"
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#define LOG_LEVEL CONFIG_SENSOR_LOG_LEVEL
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LOG_MODULE_REGISTER(VL53L1X);
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struct vl53l1x_pin_config {
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bool use;
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u32_t gpios_pin;
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char *gpios_ctrl;
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};
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struct vl53l1x_data {
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char *i2c_dev_name;
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u16_t i2c_addr;
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VL53L1_Dev_t vl53l1x;
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VL53L1_RangingMeasurementData_t RangingMeasurementData;
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int inter_measurement_period;
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int timing_budget;
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struct vl53l1x_pin_config irq_config;
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struct vl53l1x_pin_config xshut_config;
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u8_t instance_id;
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};
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static void vl53l1x_print_device_settings(struct device *dev)
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{
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struct vl53l1x_data *drv_data = dev->driver_data;
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struct vl53l1x_pin_config *irq_cfg = &drv_data->irq_config;
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LOG_DBG("Name:\t\t%s", log_strdup(dev->config->name));
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LOG_DBG("Instance ID:\t%u", drv_data->instance_id);
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LOG_DBG("I2C Address:\t0x%02x", drv_data->i2c_addr);
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if (irq_cfg && irq_cfg->use) {
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LOG_DBG("IRQ:\t\tenabled, ctrl %s, pin %u",
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irq_cfg->gpios_ctrl, irq_cfg->gpios_pin);
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} else {
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LOG_DBG("IRQ:\t\tdisabled");
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}
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struct vl53l1x_pin_config *xshut_cfg = &drv_data->xshut_config;
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if (xshut_cfg && xshut_cfg->use) {
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LOG_DBG("XSHUT:\t\tenabled, ctrl %s, pin %u",
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xshut_cfg->gpios_ctrl, xshut_cfg->gpios_pin);
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} else {
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LOG_DBG("XSHUT:\t\tdisabled");
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}
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}
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static int vl53l1x_init(struct device *dev)
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{
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struct vl53l1x_data *drv_data = dev->driver_data;
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VL53L1_Error ret;
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u16_t vl53l1x_id = 0U;
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VL53L1_DeviceInfo_t vl53l1x_dev_info;
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LOG_DBG("enter in %s", __func__);
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vl53l1x_print_device_settings(dev);
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VL53L1_Dev_t vl53l1dev = {
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.I2cDevAddr = drv_data->i2c_addr,
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.I2cHandle = device_get_binding(drv_data->i2c_dev_name)
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};
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drv_data->vl53l1x = vl53l1dev;
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if (vl53l1dev.I2cHandle == NULL) {
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LOG_ERR("Could not get pointer to %s device.",
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drv_data->i2c_dev_name);
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return -EINVAL;
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}
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ret = VL53L1_WaitDeviceBooted(&drv_data->vl53l1x);
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if (ret) {
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return -ETIMEDOUT;
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}
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LOG_DBG("VL53L1_WaitDeviceBooted succeeded");
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/* sensor init */
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ret = VL53L1_DataInit(&drv_data->vl53l1x);
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if (ret < 0) {
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LOG_ERR("VL53L1X_DataInit return error (%d)", ret);
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return -ENOTSUP;
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}
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LOG_DBG("VL53L1_DataInit succeeded");
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/* static init */
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ret = VL53L1_StaticInit(&drv_data->vl53l1x);
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if (ret < 0) {
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LOG_ERR("VL53L1_StaticInit return error (%d)", ret);
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return -ENOTSUP;
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}
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LOG_DBG("VL53L1_StaticInit succeeded");
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ret = VL53L1_SetDistanceMode(&drv_data->vl53l1x,
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VL53L1_DISTANCEMODE_LONG);
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if (ret < 0) {
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LOG_ERR("VL53L1_SetDistanceMode return error (%d)", ret);
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return -ENOTSUP;
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}
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LOG_DBG("VL53L1_SetDistanceMode succeeded");
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ret = VL53L1_StartMeasurement(&drv_data->vl53l1x);
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return 0;
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}
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#define VL53L1X_PIN_CFG(id, pintype) \
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static const struct vl53l1x_pin_config\
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vl53l1x_##pintype##_##id##_cfg = { \
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.use = true, \
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.gpios_pin = \
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DT_INST_##id##_ST_VL53L1X_##pintype##_GPIOS_PIN, \
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.gpios_ctrl = \
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DT_INST_##id##_ST_VL53L1X_##pintype##_GPIOS_CONTROLLER \
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}
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#define VL53L1X_NOPIN_CFG(id, pintype) \
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static const struct vl53l1x_pin_config \
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vl53l1x_##pintype##_##id##_cfg = { \
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/* this is unnecessary, but let's keep it for clarity */ \
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.use = false, \
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}
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#define VL53L1X_INST_INIT(id) \
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static struct vl53l1x_data vl53l1x_driver_##id##_data = { \
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.instance_id = id, \
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.i2c_dev_name = DT_INST_##id##_ST_VL53L1X_BUS_NAME, \
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.i2c_addr = DT_INST_##id##_ST_VL53L1X_BASE_ADDRESS, \
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.irq_config = vl53l1x_IRQ_##id##_cfg, \
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.xshut_config = vl53l1x_XSHUT_##id##_cfg, \
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.inter_measurement_period = \
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DT_INST_##id##_ST_VL53L1X_INTER_MEASUREMENT_PERIOD, \
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.timing_budget = \
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DT_INST_##id##_ST_VL53L1X_MEASUREMENT_TIMING_BUDGET \
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}; \
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DEVICE_AND_API_INIT(vl53l1x, \
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DT_INST_##id##_ST_VL53L1X_LABEL, \
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vl53l1x_init, \
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&vl53l1x_driver_##id##_data, \
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NULL, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY, NULL)
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#ifdef DT_INST_0_ST_VL53L1X_BASE_ADDRESS
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#ifndef DT_INST_0_ST_VL53L1X_INTER_MEASUREMENT_PERIOD
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#define DT_INST_0_ST_VL53L1X_INTER_MEASUREMENT_PERIOD
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CONFIG_VL53L1X_INTERMEASUREMENT_PERIOD
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#endif
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#ifndef DT_INST_0_ST_VL53L1X_MEASUREMENT_TIMING_BUDGET
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#define DT_INST_0_ST_VL53L1X_MEASUREMENT_TIMING_BUDGET
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CONFIG_VL53L1X_MEAS_TIMING_BUDGET
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#endif
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#ifdef DT_INST_0_ST_VL53L1X_IRQ_GPIOS_PIN
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VL53L1X_PIN_CFG(0, IRQ);
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#else
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VL53L1X_NOPIN_CFG(0, IRQ);
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#endif
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#ifdef DT_INST_0_ST_VL53L1X_XSHUT_GPIOS_PIN
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VL53L1X_PIN_CFG(0, XSHUT);
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#else
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VL53L1X_NOPIN_CFG(0, XSHUT);
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#endif
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VL53L1X_INST_INIT(0);
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#endif
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