drivers/sensors/vl53l1x.c: Added support for VL53L1X TOF sensor.

drivers/sensors/Kconfig

@@ -738,6 +738,13 @@ config VEML6070_I2C_FREQUENCY
 	default 100000
 	depends on SENSORS_VEML6070
 
+config SENSORS_VL53L1X
+	bool "ST VL53L1X TOF sensor"
+	default n
+	select I2C
+	---help---
+		Enable driver support for the VL53L1X Time Of Flight sensor.
+
 config SENSORS_XEN1210
 	bool "Sensixs XEN1210 Magnetometer"
 	default n

drivers/sensors/Make.defs

@@ -258,6 +258,12 @@ ifeq ($(CONFIG_SENSORS_VEML6070),y)
   CSRCS += veml6070.c
 endif
 
+# ST VL53L1X
+
+ifeq ($(CONFIG_SENSORS_VL53L1X),y)
+  CSRCS += vl53l1x.c
+endif
+
 # Sensixs XEN1210
 
 ifeq ($(CONFIG_SENSORS_XEN1210),y)

include/nuttx/sensors/ioctl.h

@@ -210,4 +210,11 @@
 #define SNIOC_SET_CLEAN_INTERVAL   _SNIOC(0x005d) /* Arg: uint32_t value (seconds) */
 #define SNIOC_START_FAN_CLEANING   _SNIOC(0x005e) /* Arg: None */
 
+/* IOCTL commands unique to the VL53L1X */
+
+#define SNIOC_DISTANCESHORT        _SNIOC(0x0100) /* Arg: None */
+#define SNIOC_DISTANCELONG         _SNIOC(0x0101) /* Arg: None */
+#define SNIOC_CALIBRATE            _SNIOC(0x0102) /* Arg: b16_t value */
+#define SNIOC_TEMPUPDATE           _SNIOC(0x0103) /* Arg: b16_t value */
+
 #endif /* __INCLUDE_NUTTX_SENSORS_IOCTL_H */

include/nuttx/sensors/vl53l1x.h

@@ -0,0 +1,114 @@
+/****************************************************************************
+ * drivers/sensors/vl53l1x.h
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_NUTTX_SENSORS_VL53L1X_H
+#define __INCLUDE_NUTTX_SENSORS_VL53L1X_H
+
+#include <nuttx/config.h>
+
+#if defined(CONFIG_I2C) && defined(CONFIG_SENSORS_VL53L1X)
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define VL53L1X_I2C_PORTNO 1
+
+#define SOFT_RESET                  0x0000
+#define TIMEOUT_MACROP_LOOP_BOUND   0x0008
+#define RANGE_OFFSET_MM             0x001e
+#define INNER_OFFSET_MM             0x0020
+#define OUTER_OFFSET_MM             0x0022
+#define GPIO_MUX_CTRL               0x0030
+#define GPIO_STATUS                 0x0031
+#define PHASECAL_TIMEOUT_MACRO      0x004b
+#define RANGE_CFG_TIMEOUT_MACRO_HI  0x005e
+#define RANGE_VCSEL_PERIOD_A        0x0060
+#define RANGE_VCSEL_PERIOD_B        0x0063
+#define RANGE_TIMEOUT_MACRO_HI      0x0061
+#define RANGE_CFG_VALID_PHASE       0x0069
+#define SYSTEM__THRESH_HIGH         0x0072
+#define SYSTEM__THRESH_LOW          0x0074
+#define SD_CFG_WOI_SD0              0x0078
+#define SD_CFG_INIT_PHASE           0x007a
+#define INTERRUPT_CLEAR             0x0086
+#define SYSTEM_MODE                 0x0087
+#define EFFECTIVE_SPADS             0x008c
+#define VL53L1_GET_DISTANCE         0x0096
+#define SIGNAL_COUNT_RATE           0x0098
+#define VL53L1_SYSTEM_STATUS        0x00e5
+#define VL53L1_GET_ID               0x010f
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+#ifdef __cplusplus
+#define EXTERN extern "C"
+extern "C"
+{
+#else
+#define EXTERN extern
+#endif
+
+/****************************************************************************
+ * Name: vl53l1x_register
+ *
+ * Description:
+ *   Register the VL53L1X character device as 'devpath'
+ *
+ * Input Parameters:
+ *   devpath - The full path to the driver to register. E.g., "/dev/tof0"
+ *   i2c     - An instance of the I2C interface to use to communicate with
+ *             VL53L1X
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure.
+ *
+ ****************************************************************************/
+
+int vl53l1x_register(FAR const char *devpath, FAR struct i2c_master_s *i2c);
+
+#undef EXTERN
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* CONFIG_I2C && CONFIG_SENSORS_VL53L1X */
+#endif /* __INCLUDE_NUTTX_SENSORS_VL53L1X_H */