examples/vl53l1x: Add VL53L1X example demo.

examples/vl53l1x/.gitignore

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+/hello
+/Make.dep
+/.depend
+/.built
+/*.asm
+/*.obj
+/*.rel
+/*.lst
+/*.sym
+/*.adb
+/*.lib
+/*.src

examples/vl53l1x/Kconfig

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+#
+# For a description of the syntax of this configuration file,
+# see the file kconfig-language.txt in the NuttX tools repository.
+#
+
+config EXAMPLES_VL53L1X
+	tristate "\"VL53L1X\" example"
+	default n
+	---help---
+		Enable the \"VL53L1X\" example
+
+if EXAMPLES_VL53L1X
+
+config EXAMPLES_VL53L1X_PROGNAME
+	string "Program name"
+	default "vl53l1x"
+	depends on BUILD_LOADABLE
+	---help---
+		This is the name of the program that will be use when the NSH ELF
+		program is installed.
+
+config EXAMPLES_VL53L1X_PRIORITY
+	int "VL53L1X priority"
+	default 100
+
+config EXAMPLES_VL53L1X_STACKSIZE
+	int "VL53L1X stack size"
+	default 2048
+
+endif

examples/vl53l1x/Make.defs

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+############################################################################
+# apps/examples/vl53l1x/Make.defs
+# Adds selected applications to apps/ build
+#
+#   Copyright (C) 2019 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+ifneq ($(CONFIG_EXAMPLES_VL53L1X),)
+CONFIGURED_APPS += examples/vl53l1x
+endif

examples/vl53l1x/Makefile

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+############################################################################
+# apps/examples/vl53l1x/Makefile
+#
+#   Copyright (C) 2019 Acutronics Robotics. All rights reserved.
+#   Author: Acutronics Robotics (Juan Flores Muñoz) <juan@erlerobotics.com>
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name NuttX nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+-include $(TOPDIR)/Make.defs
+
+CONFIG_EXAMPLES_VL53L1X_PRIORITY ?= SCHED_PRIORITY_DEFAULT
+CONFIG_EXAMPLES_VL53L1X_STACKSIZE ?= 2048
+
+APPNAME = vl53l1x
+
+PRIORITY  = $(CONFIG_EXAMPLES_VL53L1X_PRIORITY)
+STACKSIZE = $(CONFIG_EXAMPLES_VL53L1X_STACKSIZE)
+
+ASRCS =
+CSRCS =
+MAINSRC = vl53l1x_main.c
+
+CONFIG_EXAMPLES_VL53L1X_PROGNAME ?= vl53l1x$(EXEEXT)
+PROGNAME = $(CONFIG_EXAMPLES_VL53L1X_PROGNAME)
+
+MODULE = CONFIG_EXAMPLES_VL53L1X
+
+include $(APPDIR)/Application.mk

examples/vl53l1x/vl53l1x_main.c

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+/****************************************************************************
+ * examples/vl53l1x/vl53l1x_main.c
+ *
+ *   Copyright (C) 2019 Acutronics Robotics. All rights reserved.
+ *   Author: Acutronics Robotics (Juan Flores Muñoz) <juan@erlerobotics.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+
+#include <nuttx/sensors/vl53l1x.h>
+#include <nuttx/sensors/ioctl.h>
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+static void error_message()
+{
+  printf("VL53L1X help usage:\n");
+  printf("vl53l1x -m <measure_mode> -c <calibration_distance>\n ");
+  printf("measure_mode:\n");
+  printf("  short-> Up to 1.3 mtr and higher precision\n");
+  printf("  long-> Up to 4 mtr and lower precision\n");
+  printf("calibration_distance:\n");
+  printf("  Set a object to a known distance. "
+         "Valid value between 10mm and 400mm or none\n");
+}
+
+/****************************************************************************
+ * hello_main
+ ****************************************************************************/
+
+#if defined(BUILD_MODULE)
+int main(int argc, FAR char *argv[])
+#else
+int vl53l1x_main(int argc, char *argv[])
+#endif
+{
+  uint16_t calib_value = 0;     /* Variable to save the calibration value */
+  int fd;                       /* VL53L1X file descriptor */
+  uint16_t result;              /* Variable to save the return data of the
+                                 * read.
+                                 */
+
+  if (argc == 1 || (argc == 2) && !strcmp(argv[1], "-h") || argc > 5 ||
+      argc < 4)
+    {
+      error_message();          /* Just show the instructions of how to set-up
+                                 * this App
+                                 */
+      return 0;
+    }
+
+  /* Opening the sensor with read only permission */
+
+  fd = open("/dev/tof0", O_RDONLY);
+
+  /* Setting the measure mode. */
+
+  if (!strcmp(argv[2], "long"))
+    {
+      ioctl(fd, SNIOC_DISTANCELONG);
+    }
+  else if (!strcmp(argv[2], "short"))
+    {
+      ioctl(fd, SNIOC_DISTANCESHORT);
+    }
+  else
+    {
+      error_message();          /* Just show the instructions of how to set-up
+                                 * this App
+                                 */
+      close(fd);
+      return 0;
+    }
+
+  /* Set the calibration value */
+
+  if (argc == 5)
+    {
+      calib_value = atoi(argv[4]);
+      if (calib_value > 10 || calib_value < 4000)
+        {
+          ioctl(fd, SNIOC_CALIBRATE, calib_value);
+        }
+      else
+        {
+          printf("Error: Calibration not set, value out of range\n");
+        }
+    }
+
+  while (1)
+    {
+      /* Read the distance every 100 mS. */
+
+      read(fd, &result, sizeof(result));
+      printf("Distance %i mm \n", result);
+      usleep(100000);
+    }
+}