driver: sensor: Add vl53l0x
Add driver for ST vl53l0x time of flight sensor.
This driver can be used in 2 modes :
* proximity sensor :
configure VL53L0X_PROXIMITY_THRESHOLD
will return 1 if target is between sensor and threshold,
else, 0
* distance sensor :
will return the distance in millimeters from sensor to target
This driver use the official STMicroelectronics library for vl53l0x.
(in ext/hal/st/lib/sensor/vl53l0x)
Signed-off-by: Vincent Veron <vincent.veron@st.com>
This commit is contained in:
Vincent Veron
Kumar Gala
parent
2862c8559b
commit
347560459b
5 changed files with 359 additions and 0 deletions
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@ -35,5 +35,6 @@ add_subdirectory_ifdef(CONFIG_SX9500 sx9500)
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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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zephyr_sources_ifdef(CONFIG_USERSPACE sensor_handlers.c)
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@ -114,4 +114,6 @@ source "drivers/sensor/tmp007/Kconfig"
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source "drivers/sensor/tmp112/Kconfig"
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source "drivers/sensor/vl53l0x/Kconfig"
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endif # SENSOR
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4
drivers/sensor/vl53l0x/CMakeLists.txt
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4
drivers/sensor/vl53l0x/CMakeLists.txt
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@ -0,0 +1,4 @@
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zephyr_sources(
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vl53l0x.c
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vl53l0x_platform.c
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)
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67
drivers/sensor/vl53l0x/Kconfig
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67
drivers/sensor/vl53l0x/Kconfig
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@ -0,0 +1,67 @@
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# Kconfig - VL53L0X time of flight sensor configuration options
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#
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# Copyright (c) 2017 STMicroelectronics
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#
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# SPDX-License-Identifier: Apache-2.0
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#
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menuconfig VL53L0X
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bool
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prompt "VL53L0X time of flight sensor"
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depends on SENSOR && I2C
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default n
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select HAS_STLIB
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help
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Enable driver for VL53L0X I2C-based time of flight sensor.
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config VL53L0X_NAME
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string
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prompt "Driver name"
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default "VL53L0X"
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depends on VL53L0X && !HAS_DTS_I2C_DEVICE
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help
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Device name with which the VL53L0X sensor is identified.
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config VL53L0X_I2C_ADDR
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int
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prompt "Vl53l0x I2C address"
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default 0x29
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depends on VL53L0X && !HAS_DTS_I2C_DEVICE
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help
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address of the i2c used for the vl53l0x sensor
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config VL53L0X_I2C_MASTER_DEV_NAME
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string
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prompt "I2C master where VL53L0X is connected"
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depends on VL53L0X && !HAS_DTS_I2C_DEVICE
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default "I2C_0"
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help
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Specify the device name of the I2C master device to which VL53L0X is
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connected.
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config VL53L0X_XSHUT_GPIO_DEV_NAME
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string
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prompt "GPIO device"
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default "GPIO_6"
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depends on VL53L0X
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help
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The device name of the GPIO device to which the VL53L0X xshut pin
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is connected.
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config VL53L0X_XSHUT_GPIO_PIN_NUM
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int
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prompt "Interrupt GPIO pin number"
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default 6
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depends on VL53L0X
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help
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The number of the GPIO on which the xshut signal from the VL53L0X
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is connected.
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config VL53L0X_PROXIMITY_THRESHOLD
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int
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prompt "Proximity threshold in millimeters"
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default 100
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depends on VL53L0X
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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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285
drivers/sensor/vl53l0x/vl53l0x.c
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285
drivers/sensor/vl53l0x/vl53l0x.c
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@ -0,0 +1,285 @@
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/* vl53l0x.c - Driver for ST VL53L0X time of flight sensor */
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/*
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* Copyright (c) 2017 STMicroelectronics
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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 <i2c.h>
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#include <sensor.h>
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#include <init.h>
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#include <gpio.h>
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#include <misc/__assert.h>
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#include <zephyr/types.h>
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#include <device.h>
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#include "vl53l0x_api.h"
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#include "vl53l0x_platform.h"
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#define SYS_LOG_DOMAIN "VL53L0X"
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#define SYS_LOG_LEVEL CONFIG_SYS_LOG_SENSOR_LEVEL
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#include <logging/sys_log.h>
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/* All the values used in this driver are coming from ST datasheet and examples.
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* It can be found here :
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* https://my.st.com/content/my_st_com/en/products/embedded-software/
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* proximity-sensors-software/stsw-img005.license%3d1505825745199.
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* product%3dSTSW-IMG005.html
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* (search for STSW-IMG005 on www.st.com)
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* There are also examples of use in the L4 cube FW
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* (http://www.st.com/en/embedded-software/stm32cubel4.html)
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*/
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#define VL53L0X_REG_WHO_AM_I 0xC0
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#define VL53L0X_CHIP_ID 0xEEAA
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#define VL53L0X_SETUP_SIGNAL_LIMIT (0.1*65536)
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#define VL53L0X_SETUP_SIGMA_LIMIT (60*65536)
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#define VL53L0X_SETUP_MAX_TIME_FOR_RANGING 33000
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#define VL53L0X_SETUP_PRE_RANGE_VCSEL_PERIOD 18
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#define VL53L0X_SETUP_FINAL_RANGE_VCSEL_PERIOD 14
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struct vl53l0x_data {
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struct device *i2c;
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VL53L0X_Dev_t vl53l0x;
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VL53L0X_RangingMeasurementData_t RangingMeasurementData;
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};
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static int vl53l0x_sample_fetch(struct device *dev, enum sensor_channel chan)
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{
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struct vl53l0x_data *drv_data = dev->driver_data;
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u8_t ret;
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_ALL
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|| chan == SENSOR_CHAN_DISTANCE
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|| chan == SENSOR_CHAN_PROX);
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ret = VL53L0X_PerformSingleRangingMeasurement(&drv_data->vl53l0x,
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&drv_data->RangingMeasurementData);
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if (ret < 0) {
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SYS_LOG_ERR("Could not perform measurment (error=%d)", ret);
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return -EINVAL;
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}
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return 0;
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}
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static int vl53l0x_channel_get(struct device *dev,
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enum sensor_channel chan,
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struct sensor_value *val)
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{
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struct vl53l0x_data *drv_data = (struct vl53l0x_data *)dev->driver_data;
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__ASSERT_NO_MSG(chan == SENSOR_CHAN_DISTANCE
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|| chan == SENSOR_CHAN_PROX);
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if (chan == SENSOR_CHAN_PROX) {
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if (drv_data->RangingMeasurementData.RangeMilliMeter <=
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CONFIG_VL53L0X_PROXIMITY_THRESHOLD) {
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val->val1 = 1;
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} else {
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val->val1 = 0;
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}
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} else {
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val->val1 = drv_data->RangingMeasurementData.RangeMilliMeter;
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}
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val->val2 = 0;
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return 0;
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}
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static const struct sensor_driver_api vl53l0x_api_funcs = {
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.sample_fetch = vl53l0x_sample_fetch,
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.channel_get = vl53l0x_channel_get,
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};
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static int vl53l0x_setup_single_shot(struct device *dev)
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{
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struct vl53l0x_data *drv_data = dev->driver_data;
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int ret;
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u8_t VhvSettings;
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u8_t PhaseCal;
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u32_t refSpadCount;
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u8_t isApertureSpads;
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ret = VL53L0X_StaticInit(&drv_data->vl53l0x);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_StaticInit failed");
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goto exit;
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}
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ret = VL53L0X_PerformRefCalibration(&drv_data->vl53l0x,
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&VhvSettings,
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&PhaseCal);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_PerformRefCalibration failed");
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goto exit;
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}
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ret = VL53L0X_PerformRefSpadManagement(&drv_data->vl53l0x,
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(uint32_t *)&refSpadCount,
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&isApertureSpads);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_PerformRefSpadManagement failed");
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goto exit;
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}
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ret = VL53L0X_SetDeviceMode(&drv_data->vl53l0x,
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VL53L0X_DEVICEMODE_SINGLE_RANGING);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_SetDeviceMode failed");
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goto exit;
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}
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ret = VL53L0X_SetLimitCheckEnable(&drv_data->vl53l0x,
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
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1);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_SetLimitCheckEnable sigma failed");
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goto exit;
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}
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ret = VL53L0X_SetLimitCheckEnable(&drv_data->vl53l0x,
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
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1);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_SetLimitCheckEnable signal rate failed");
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goto exit;
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}
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ret = VL53L0X_SetLimitCheckValue(&drv_data->vl53l0x,
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VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
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VL53L0X_SETUP_SIGNAL_LIMIT);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_SetLimitCheckValue signal rate failed");
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goto exit;
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}
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ret = VL53L0X_SetLimitCheckValue(&drv_data->vl53l0x,
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VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
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VL53L0X_SETUP_SIGMA_LIMIT);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_SetLimitCheckValue sigma failed");
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goto exit;
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}
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ret = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&drv_data->vl53l0x,
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VL53L0X_SETUP_MAX_TIME_FOR_RANGING);
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if (ret) {
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SYS_LOG_ERR(
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"VL53L0X_SetMeasurementTimingBudgetMicroSeconds failed");
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goto exit;
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}
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ret = VL53L0X_SetVcselPulsePeriod(&drv_data->vl53l0x,
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VL53L0X_VCSEL_PERIOD_PRE_RANGE,
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VL53L0X_SETUP_PRE_RANGE_VCSEL_PERIOD);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_SetVcselPulsePeriod pre range failed");
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goto exit;
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}
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ret = VL53L0X_SetVcselPulsePeriod(&drv_data->vl53l0x,
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VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
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VL53L0X_SETUP_FINAL_RANGE_VCSEL_PERIOD);
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if (ret) {
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SYS_LOG_ERR("VL53L0X_SetVcselPulsePeriod final range failed");
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goto exit;
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}
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exit:
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return ret;
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}
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static int vl53l0x_init(struct device *dev)
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{
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struct vl53l0x_data *drv_data = dev->driver_data;
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u8_t ret;
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u16_t vl53l0x_id = 0;
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VL53L0X_DeviceInfo_t vl53l0x_dev_info;
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struct device *gpio;
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SYS_LOG_DBG("enter in %s", __func__);
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/* configure and set VL53L0X_XSHUT_Pin */
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gpio = device_get_binding(CONFIG_VL53L0X_XSHUT_GPIO_DEV_NAME);
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if (gpio == NULL) {
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SYS_LOG_ERR("Could not get pointer to %s device.",
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CONFIG_VL53L0X_XSHUT_GPIO_DEV_NAME);
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return -EINVAL;
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}
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if (gpio_pin_configure(gpio,
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CONFIG_VL53L0X_XSHUT_GPIO_PIN_NUM,
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GPIO_DIR_OUT | GPIO_PUD_PULL_UP) < 0) {
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SYS_LOG_ERR("Could not configure GPIO %s %d).",
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CONFIG_VL53L0X_XSHUT_GPIO_DEV_NAME,
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CONFIG_VL53L0X_XSHUT_GPIO_PIN_NUM);
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return -EINVAL;
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}
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gpio_pin_write(gpio, CONFIG_VL53L0X_XSHUT_GPIO_PIN_NUM, 1);
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k_sleep(100);
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drv_data->i2c = device_get_binding(CONFIG_VL53L0X_I2C_MASTER_DEV_NAME);
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if (drv_data->i2c == NULL) {
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SYS_LOG_ERR("Could not get pointer to %s device.",
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CONFIG_VL53L0X_I2C_MASTER_DEV_NAME);
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return -EINVAL;
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}
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drv_data->vl53l0x.i2c = drv_data->i2c;
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drv_data->vl53l0x.I2cDevAddr = CONFIG_VL53L0X_I2C_ADDR;
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/* Get info from sensor */
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memset(&vl53l0x_dev_info, 0, sizeof(VL53L0X_DeviceInfo_t));
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ret = VL53L0X_GetDeviceInfo(&drv_data->vl53l0x, &vl53l0x_dev_info);
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if (ret < 0) {
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SYS_LOG_ERR("Could not get info from device.");
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return -ENODEV;
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}
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SYS_LOG_DBG("VL53L0X_GetDeviceInfo = %d", ret);
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SYS_LOG_DBG(" Device Name : %s", vl53l0x_dev_info.Name);
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SYS_LOG_DBG(" Device Type : %s", vl53l0x_dev_info.Type);
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SYS_LOG_DBG(" Device ID : %s", vl53l0x_dev_info.ProductId);
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SYS_LOG_DBG(" ProductRevisionMajor : %d",
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vl53l0x_dev_info.ProductRevisionMajor);
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SYS_LOG_DBG(" ProductRevisionMinor : %d",
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vl53l0x_dev_info.ProductRevisionMinor);
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ret = VL53L0X_RdWord(&drv_data->vl53l0x,
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VL53L0X_REG_WHO_AM_I,
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(uint16_t *) &vl53l0x_id);
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if ((ret < 0) || (vl53l0x_id != VL53L0X_CHIP_ID)) {
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SYS_LOG_ERR("Issue on device identification");
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return -ENOTSUP;
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}
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/* sensor init */
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ret = VL53L0X_DataInit(&drv_data->vl53l0x);
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if (ret < 0) {
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SYS_LOG_ERR("VL53L0X_DataInit return error (%d)", ret);
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return -ENOTSUP;
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}
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ret = vl53l0x_setup_single_shot(dev);
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if (ret < 0) {
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return -ENOTSUP;
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}
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dev->driver_api = &vl53l0x_api_funcs;
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return 0;
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}
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static struct vl53l0x_data vl53l0x_driver;
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DEVICE_INIT(vl53l0x, CONFIG_VL53L0X_NAME, vl53l0x_init, &vl53l0x_driver,
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NULL, POST_KERNEL, CONFIG_SENSOR_INIT_PRIORITY);
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