configs/olimex-stm32-e407: Add VL53L1 support. drivers/sensors/vl53l1x.c: A few compiler errors fixed, possibly incorrectly. DRIVER DOES NOT COMPILE. Marked EXPERIMENTAL in the Kconfig file.

configs/olimex-stm32-e407/src/Makefile

@@ -1,7 +1,7 @@
 ############################################################################
 # configs/olimex-stm32-e407/src/Makefile
 #
-#   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+#   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
 #   Author: Gregory Nutt <gnutt@nuttx.org>
 #
 # Redistribution and use in source and binary forms, with or without
@@ -69,7 +69,7 @@ CSRCS += stm32_usb.c
 endif
 
 ifeq ($(CONFIG_ADC),y)
-CSRCS +=  stm32_adc.c
+CSRCS += stm32_adc.c
 endif
 
 ifeq ($(CONFIG_CAN),y)
@@ -80,4 +80,8 @@ ifeq ($(CONFIG_ARCH_FPU),y)
 CSRCS += stm32_ostest.c
 endif
 
+ifeq ($(CONFIG_SENSORS_VL53L1X),y)
+CSRCS += stm32_vl53l1x.c
+endif
+
 include $(TOPDIR)/configs/Board.mk

configs/olimex-stm32-e407/src/olimex-stm32-e407.h

@@ -59,6 +59,7 @@
 #define HAVE_SDIO       1
 #define HAVE_RTC_DRIVER 1
 #define HAVE_NETMONITOR 1
+#define HAVE_VL53L1     1
 
 /* Can't support USB host or device features if USB OTG FS is not enabled */
 
@@ -108,6 +109,39 @@
 #  endif
 #endif
 
+/* VL53L1 */
+
+#if !defined(CONFIG_I2C) || !defined(CONFIG_SENSORS_VL53L1X) || \
+    !defined(CONFIG_STM32_I2C1)
+#  undef HAVE_VL53L1
+#endif
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define VL53L1X_I2C_PORTNO 1   /* On I2C1 */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_vl53l1xinitialize
+ *
+ * Description:
+ *   Initialize and register the VL53L1X distance/light Sensor driver.
+ *
+ * Input parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/tof0"
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int stm32_vl53l1xinitialize(FAR const char *devpath)
+
 /* Olimex-STM32-E407 GPIOs ****************************************************/
 /* LEDs */
 

configs/olimex-stm32-e407/src/stm32_appinit.c

@@ -196,13 +196,13 @@ int board_app_initialize(uintptr_t arg)
     }
 #endif
 
-#ifdef CONFIG_ADC
+#ifdef HAVE_VL53L1
-  /* Initialize ADC and register the ADC driver. */
+  /* Initialize ADC and register the VL53L1X distance/light Sensor driver. */
 
-  ret = stm32_adc_setup();
+  ret = stm32_vl53l1xinitialize("/dev/vl53l1");
   if (ret < 0)
     {
-      syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
+      syslog(LOG_ERR, "ERROR: stm32_vl53l1xinitialize failed: %d\n", ret);
     }
 #endif
 

configs/olimex-stm32-e407/src/stm32_vl53l1x.c

@@ -0,0 +1,105 @@
+/****************************************************************************
+ * configs/olimex-stm32-e407/src/stm32_vl53l1x.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 <errno.h>
+#include <debug.h>
+
+#include <nuttx/spi/spi.h>
+#include <nuttx/sensors/vl53l1x.h>
+
+#include "stm32.h"
+#include "stm32_i2c.h"
+#include "olimex-stm32-e407.h"
+
+#ifdef HAVE_VL53L1
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define VL53L1X_I2C_PORTNO 1   /* On I2C1 */
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_vl53l1xinitialize
+ *
+ * Description:
+ *   Initialize and register the VL53L1X distance/light Sensor driver.
+ *
+ * Input parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/tof0"
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int stm32_vl53l1xinitialize(FAR const char *devpath)
+{
+  FAR struct i2c_master_s *i2c;
+  int ret;
+
+  sninfo("Initializing VL53L1X!\n");
+
+  /* Initialize I2C */
+
+  i2c = stm32_i2cbus_initialize(1);
+
+  if (!i2c)
+    {
+      return -ENODEV;
+    }
+
+  /* Then register the barometer sensor */
+
+  ret = vl53l1x_register(devpath, i2c);
+  if (ret < 0)
+    {
+      snerr("ERROR: Error registering VL53L1X\n");
+    }
+
+  return ret;
+}
+
+#endif /* HAVE_VL53L1 */

drivers/sensors/Kconfig

@@ -728,6 +728,7 @@ config SENSORS_VL53L1X
 	bool "ST VL53L1X TOF sensor"
 	default n
 	select I2C
+	depends on EXPERIMENTAL
 	---help---
 		Enable driver support for the VL53L1X Time Of Flight sensor.
 

drivers/sensors/vl53l1x.c

@@ -5,32 +5,32 @@
  *   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
+ * 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
+ * 1. Redistributions of source code must retain the above copyright
- *    notice, This list of conditions and the following disclaimer.
+ *    notice, this list of conditions and the following disclaimer.
- * 2. redistributions in binary form must reproduce the above copyright
+ * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, This list of conditions and the following disclaimer in
+ *    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
+ * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from This software
+ *    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
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "as is" and any express or implied warranties, including, but not
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * limited to, the implied warranties of merchantability and fitness
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * for a particular purpose are disclaimed. in no event shall the
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * copyright owner or contributors be liable for any direct, indirect,
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * incidental, special, exemplary, or consequential damages (including,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * but not limited to, procurement of substitute goods or services; loss
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * of use, data, or profits; or business interruption) however caused
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * and on any theory of liability, whether in contract, strict
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * liability, or tort (including negligence or otherwise) arising in
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * any way out of the use of This software, even if advised of the
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * possibility of such damage.
+ * POSSIBILITY OF SUCH DAMAGE.
  *
  ****************************************************************************/
 
@@ -258,13 +258,13 @@ static void vl53l1x_setsigmathreshold(FAR struct vl53l1x_dev_s *priv,
                                       uint16_t sigma);
 static void vl53l1x_getsigmathreshold(FAR struct vl53l1x_dev_s *priv,
                                       FAR uint16_t *signal);
-static void vl53l1x_starttemperatureupdate();
+static void vl53l1x_starttemperatureupdate(FAR struct vl53l1x_dev_s *priv);
 static void vl53l1x_calibrateoffset(FAR struct vl53l1x_dev_s *priv,
                                     uint16_t targetdistinmm,
                                     FAR int16_t *offset);
-static int8_t vl53l1x_calibratextalk(FAR struct vl53l1x_dev_s *priv,
+static void vl53l1x_calibratextalk(FAR struct vl53l1x_dev_s *priv,
-                                     uint16_t targetdistinmm,
+                                   uint16_t targetdistinmm,
-                                     FAR uint16_t *xtalk);
+                                   FAR uint16_t *xtalk);
 
 /* Character driver methods */
 
@@ -274,7 +274,8 @@ static ssize_t vl53l1x_read(FAR struct file *filep, FAR char *buffer,
                             size_t buflen);
 static ssize_t vl53l1x_write(FAR struct file *filep, FAR const char *buffer,
                              size_t buflen);
-static ssize_t vl53l1x_ioctl(FAR struct file *filep, int cmd, uint16_t arg);
+static ssize_t vl53l1x_ioctl(FAR struct file *filep, int cmd,
+                             unsigned long arg);
 
 /****************************************************************************
  * Private Data
@@ -286,13 +287,13 @@ static const struct file_operations g_vl53l1xfops =
   vl53l1x_close,                /* close */
   vl53l1x_read,                 /* read */
   vl53l1x_write,                /* write */
-  null,                         /* seek */
+  NULL,                         /* seek */
   vl53l1x_ioctl,                /* ioctl */
 #ifndef CONFIG_DISABLE_POLL
-  null,                         /* poll */
+  NULL,                         /* poll */
 #endif
 #ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
-  null,                         /* unlink */
+  NULL,                         /* unlink */
 #endif
 };
 
@@ -435,11 +436,8 @@ static void vl53l1x_settimingbudgetinms(FAR struct vl53l1x_dev_s *priv,
 {
   uint16_t dm;
   vl53l1x_getdistancemode(priv, &dm);
-  if (dm == 0)
+
-    {
+  if (dm == 1)                  /* Short distancemode */
-      return 1;
-    }
-  else if (dm == 1)             /* Short distancemode */
     {
       switch (timingbudgetinms)
         {
@@ -680,10 +678,11 @@ static void vl53l1x_getintermeasurementinms(FAR struct vl53l1x_dev_s *priv,
   uint32_t tmp;
 
   tmp = vl53l1x_getreg32(priv, VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD);
-  *pim = (uint16_t)tmp;
+
-  vl53l1_getreg16(priv, VL53L1_RESULT__OSC_CALIBRATE_VAL, &clockpll);
+  clockpll  = vl53l1x_getreg16(priv, VL53L1_RESULT__OSC_CALIBRATE_VAL);
-  clockpll = clockpll & 0x3ff;
+  clockpll &= 0x3ff;
-  *pim = (uint16_t)(*pim / (clockpll * 1.065));
+
+  *pim = (uint16_t)(tmp / (clockpll * 1.065));
 }
 
 /****************************************************************************
@@ -1169,14 +1168,12 @@ static void vl53l1x_getsignalthreshold(FAR struct vl53l1x_dev_s *priv,
 static void vl53l1x_setsigmathreshold(FAR struct vl53l1x_dev_s *priv,
                                       uint16_t sigma)
 {
-  if (sigma > (0xffff >> 2))
+  if (sigma <= (0xffff >> 2))
     {
-      return 1;
+      /* 16 bits register 14.2 format */
+
+      vl53l1x_putreg16(priv, RANGE_CONFIG__SIGMA_THRESH, sigma << 2);
     }
-
-  /* 16 bits register 14.2 format */
-
-  vl53l1x_putreg16(priv, RANGE_CONFIG__SIGMA_THRESH, sigma << 2);
 }
 
 /****************************************************************************
@@ -1273,14 +1270,14 @@ static void vl53l1x_calibrateoffset(FAR struct vl53l1x_dev_s *priv,
  * Name: vl53l1x_calibratextalk
  *
  * Description:
- *  the function returns the xtalk value found and programs the xtalk
+ *  This function returns the xtalk value found and programs the xtalk
  *  compensation to the device.
  *
  ****************************************************************************/
 
-static int8_t vl53l1x_calibratextalk(FAR struct vl53l1x_dev_s *priv,
+static void vl53l1x_calibratextalk(FAR struct vl53l1x_dev_s *priv,
-                                     uint16_t targetdistinmm,
+                                   uint16_t targetdistinmm,
-                                     FAR uint16_t *xtalk)
+                                   FAR uint16_t *xtalk)
 {
   uint8_t i;
   uint8_t tmp = 0;
@@ -1614,7 +1611,7 @@ static void vl53l1x_putreg32(FAR struct vl53l1x_dev_s *priv, uint16_t regaddr,
 
 static int vl53l1x_open(FAR struct file *filep)
 {
-  return ok;
+  return OK;
 }
 
 /****************************************************************************
@@ -1627,7 +1624,7 @@ static int vl53l1x_open(FAR struct file *filep)
 
 static int vl53l1x_close(FAR struct file *filep)
 {
-  return ok;
+  return OK;
 }
 
 /****************************************************************************
@@ -1644,6 +1641,8 @@ static ssize_t vl53l1x_read(FAR struct file *filep, FAR char *buffer,
   vl53l1x_startranging(priv);
   vl53l1x_getdistance(priv, aux);
   vl53l1x_stopranging(priv);
+
+  return sizeof(uint16_t);
 }
 
 /****************************************************************************
@@ -1653,14 +1652,15 @@ static ssize_t vl53l1x_read(FAR struct file *filep, FAR char *buffer,
 static ssize_t vl53l1x_write(FAR struct file *filep, FAR const char *buffer,
                              size_t buflen)
 {
-  return -enosys;
+  return -ENOSYS;
 }
 
 /****************************************************************************
  * Name: vl53l1x_ioctl
  ****************************************************************************/
 
-static ssize_t vl53l1x_ioctl(FAR struct file *filep, int cmd, uint16_t arg)
+static ssize_t vl53l1x_ioctl(FAR struct file *filep, int cmd,
+                             unsigned long arg)
 {
   FAR struct inode *inode = filep->f_inode;
   FAR struct vl53l1x_dev_s *priv = inode->i_private;
@@ -1709,13 +1709,13 @@ static ssize_t vl53l1x_ioctl(FAR struct file *filep, int cmd, uint16_t arg)
  * Description:
  *   register the vl53l1x character device as 'devpath'
  *
- * input parameters:
+ * Input Parameters:
  *   devpath - the full path to the driver to register. e.g., "/dev/tof"
  *   i2c     - an instance of the i2c interface to use to communicate with
  *             vl53l1x tof
  *
- * returned value:
+ * Returned Value:
- *   zero (ok) on success; a negated errno value on failure.
+ *   zero (OK) on success; a negated errno value on failure.
  *
  ****************************************************************************/
 
@@ -1731,7 +1731,7 @@ int vl53l1x_register(FAR const char *devpath, FAR struct i2c_master_s *i2c)
   if (!priv)
     {
       snerr("ERROR: failed to allocate instance\n");
-      return -enomem;
+      return -ENOMEM;
     }
 
   priv->i2c = i2c;