drivers/vl53l1x: VL53L1X ToF ranging sensor added as package

drivers/Kconfig

@@ -150,6 +150,7 @@ rsource "tsl2561/Kconfig"
 rsource "tsl4531x/Kconfig"
 rsource "vcnl40x0/Kconfig"
 rsource "veml6070/Kconfig"
+rsource "vl53l1x/Kconfig"
 rsource "vl6180x/Kconfig"
 endmenu # Sensor Device Drivers
 

drivers/Makefile.dep

@@ -237,6 +237,10 @@ ifneq (,$(filter vcnl40%0,$(USEMODULE)))
   USEMODULE += vcnl40x0
 endif
 
+ifneq (,$(filter vl53l1x_%,$(USEMODULE)))
+  USEMODULE += vl53l1x
+endif
+
 ifneq (,$(filter vl6180x_%,$(USEMODULE)))
   USEMODULE += vl6180x
 endif

drivers/saul/init_devs/auto_init_vl53l1x.c

@@ -0,0 +1,72 @@
+/*
+ * Copyright (C) 2021 Gunar Schorcht
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/*
+ * @ingroup     drivers_vl53l1x
+ * @ingroup     sys_auto_init_saul
+ * @brief       Auto initialization of ST VL53L1X Time-of-Flight (ToF) ranging sensor
+ * @author      Gunar Schorcht <[email protected]>
+ * @file
+ */
+
+#ifdef MODULE_VL53L1X
+
+#include "assert.h"
+#include "log.h"
+#include "saul_reg.h"
+#include "vl53l1x.h"
+#include "vl53l1x_params.h"
+
+/**
+ * @brief   Define the number of configured sensors
+ */
+#define VL53L1X_NUM    (sizeof(vl53l1x_params) / sizeof(vl53l1x_params[0]))
+
+/**
+ * @brief   Allocate memory for the device descriptors
+ */
+static vl53l1x_t vl53l1x_devs[VL53L1X_NUM];
+
+/**
+ * @brief   Memory for the SAUL registry entries
+ */
+static saul_reg_t saul_entries[VL53L1X_NUM];
+
+/**
+ * @brief   Define the number of saul info
+ */
+#define VL53L1X_INFO_NUM (sizeof(vl53l1x_saul_info) / sizeof(vl53l1x_saul_info[0]))
+
+/**
+ * @brief   Reference the driver structs
+ */
+extern saul_driver_t vl53l1x_saul_driver;
+
+void auto_init_vl53l1x(void)
+{
+    assert(VL53L1X_INFO_NUM == VL53L1X_NUM);
+
+    for (unsigned i = 0; i < VL53L1X_NUM; i++) {
+        LOG_DEBUG("[auto_init_saul] initializing vl53l1x #%u\n", i);
+
+        if (vl53l1x_init(&vl53l1x_devs[i], &vl53l1x_params[i]) != VL53L1X_OK) {
+            LOG_ERROR("[auto_init_saul] error initializing vl53l1x #%u\n", i);
+            continue;
+        }
+
+        saul_entries[i].dev = &(vl53l1x_devs[i]);
+        saul_entries[i].name = vl53l1x_saul_info[i].name;
+        saul_entries[i].driver = &vl53l1x_saul_driver;
+        saul_reg_add(&(saul_entries[i]));
+    }
+}
+
+#else
+typedef int dont_be_pedantic;
+#endif /* MODULE_VL53L1X */

drivers/saul/init_devs/init.c

@@ -335,6 +335,10 @@ void saul_init_devs(void)
         extern void auto_init_veml6070(void);
         auto_init_veml6070();
     }
+    if (IS_USED(MODULE_VL53L1X)) {
+        extern void auto_init_vl53l1x(void);
+        auto_init_vl53l1x();
+    }
     if (IS_USED(MODULE_VL6180X)) {
         extern void auto_init_vl6180x(void);
         auto_init_vl6180x();

drivers/vl53l1x/Kconfig

@@ -0,0 +1,79 @@
+# Copyright (c) 2020 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+menuconfig MODULE_VL53L1X
+    bool "VL53L1X Time-of-Flight (ToF) ranging sensor"
+    depends on HAS_PERIPH_GPIO
+    depends on HAS_PERIPH_GPIO_IRQ
+    depends on HAS_PERIPH_I2C
+    depends on TEST_KCONFIG
+    select MODULE_PERIPH_GPIO
+    select MODULE_PERIPH_GPIO_IRQ
+    select MODULE_PERIPH_I2C
+    select MODULE_ZTIMER_MSEC
+
+if MODULE_VL53L1X
+
+choice
+    bool "Driver variant"
+    default MODULE_VL53L1X_STD
+
+config MODULE_VL53L1X_BASIC
+    bool "Basic functionality"
+    help
+        This is the smallest driver variant that only provides some basic
+        functions such as the distance measurement and the data-ready interrupt.
+
+config MODULE_VL53L1X_STD
+    bool "Standard functionality"
+    help
+        This driver variant is a compromise of size and functionality. It
+        provides the application with most functionality of the sensor. The
+        driver can be used when memory requirements are important and most
+        of the functionality should be used.
+
+config MODULE_VL53L1X_ST_API
+    bool "Full functionality using the ST VL53L1X Full API"
+    select PACKAGE_DRIVER_VL53L1X_ST_API
+    help
+        This driver variant uses ST STSW-IMG007 VL53L1X API as package. In
+        this case, the driver is simply a wrapper for the API which provides
+        a driver interface that is compatible with other driver variants.
+        Additionally, it provides access to the complete functionality
+        of the sensor by using API functions directly. This is for example
+        necessary to configure and use threshold interrupts, or to calibrate
+        the sensor.
+
+endchoice
+
+choice
+    bool "Distance mode"
+    default VL53L1X_DIST_LONG
+    depends on MODULE_VL53L1X_STD || MODULE_VL53L1X_ST_API
+
+    config VL53L1X_DIST_SHORT
+        bool "Short - up to 1.3 m"
+    config VL53L1X_DIST_MEDIUM
+        bool "Medium - up to 2 m"
+    config VL53L1X_DIST_LONG
+        bool "Long - up to 4 m"
+
+endchoice
+
+config VL53L1X_PARAM_TIMING_BUDGET
+    int "Timing budget [us]"
+    default 50000
+    range 20000 1000000
+    depends on MODULE_VL53L1X_STD || MODULE_VL53L1X_ST_API
+
+config VL53L1X_PARAM_PERIOD
+    int "Inter-measurement period [ms]"
+    default 100
+    range 20 1000
+    depends on MODULE_VL53L1X_STD || MODULE_VL53L1X_ST_API
+
+endif # MODULE_VL53L1X

drivers/vl53l1x/Makefile

@@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base

drivers/vl53l1x/Makefile.dep

@@ -0,0 +1,17 @@
+ifneq (,$(filter vl53l1x_st_api,$(USEMODULE)))
+  USEMODULE += driver_vl53l1x_st_api_platform
+  USEMODULE += ztimer_usec
+  USEPKG += driver_vl53l1x_st_api
+endif
+
+ifeq (,$(filter vl53l1x_%,$(USEMODULE)))
+  # use vl53l1x_std if no `vl53l1x_*` driver variant is explicitly specified
+  USEMODULE += vl53l1x_std
+endif
+
+ifneq (,$(filter vl53l1x,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_gpio_irq
+  FEATURES_REQUIRED += periph_gpio
+  FEATURES_REQUIRED += periph_i2c
+  USEMODULE += ztimer_msec
+endif

drivers/vl53l1x/Makefile.include

@@ -0,0 +1,7 @@
+# include variants of VL53L1X drivers as pseudo modules
+PSEUDOMODULES += vl53l1x_basic
+PSEUDOMODULES += vl53l1x_st_api
+PSEUDOMODULES += vl53l1x_std
+
+USEMODULE_INCLUDES_vl53l1x := $(LAST_MAKEFILEDIR)/include
+USEMODULE_INCLUDES += $(USEMODULE_INCLUDES_vl53l1x)

drivers/vl53l1x/include/vl53l1x_params.h

@@ -0,0 +1,153 @@
+/*
+ * Copyright (C) 2021 Gunar Schorcht
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     drivers_vl53l1x
+ * @brief       Default configuration for ST VL53L1X Time-of-Flight (ToF) ranging sensor
+ * @author      Gunar Schorcht <[email protected]>
+ * @file
+ * @{
+ */
+
+#ifndef VL53L1X_PARAMS_H
+#define VL53L1X_PARAMS_H
+
+#include "board.h"
+#include "saul_reg.h"
+#include "vl53l1x.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name    Default hardware configuration parameters
+ * @{
+ */
+
+/**
+ * @brief    Default device is I2C_DEV(0)
+ */
+#ifndef VL53L1X_PARAM_DEV
+#define VL53L1X_PARAM_DEV           I2C_DEV(0)
+#endif
+
+/**
+ * @brief   Default I2C VDDIO voltage: 2.8 V
+ */
+#ifndef VL53L1X_PARAM_VDDIO_2V8
+#define VL53L1X_PARAM_VDDIO_2V8     (true)
+#endif
+
+/**
+ * @brief   Default interrupt pin: not used
+ */
+#ifndef VL53L1X_PARAM_PIN_INT
+#define VL53L1X_PARAM_PIN_INT       (GPIO_UNDEF)
+#endif
+
+/**
+ * @brief   Default shutdown pin: not used
+ */
+#ifndef VL53L1X_PARAM_PIN_SHUTDOWN
+#define VL53L1X_PARAM_PIN_SHUTDOWN  (GPIO_UNDEF)
+#endif
+/** @} */
+
+/**
+ * @name    Default sensor configuration parameters
+ * @{
+ */
+
+#if !DOXYGEN
+
+/* Mapping of Kconfig defines to the respective driver enumeration values */
+#ifdef CONFIG_VL53L1X_DIST_SHORT
+#define CONFIG_VL53L1X_PARAM_DISTANCE_MODE  (VL53L1X_DIST_SHORT)
+#elif CONFIG_VL53L1X_DIST_MEDIUM
+#define CONFIG_VL53L1X_PARAM_DISTANCE_MODE  (VL53L1X_DIST_MEDIUM)
+#elif CONFIG_VL53L1X_DIST_LONG
+#define CONFIG_VL53L1X_PARAM_DISTANCE_MODE  (VL53L1X_DIST_LONG)
+#endif
+
+#endif /* !DOXYGEN */
+
+/**
+ * @brief   Default inter-measurement period [ms]: 100 ms
+ */
+#ifndef CONFIG_VL53L1X_PARAM_PERIOD
+#define CONFIG_VL53L1X_PARAM_PERIOD         (100)
+#endif
+
+/**
+ * @brief   Default Timing budget [us]: 50 ms
+ */
+#ifndef CONFIG_VL53L1X_PARAM_TIMING_BUDGET
+#define CONFIG_VL53L1X_PARAM_TIMING_BUDGET  (50000)
+#endif
+
+/**
+ * @brief   Default distance mode: long
+ */
+#ifndef CONFIG_VL53L1X_PARAM_DISTANCE_MODE
+#define CONFIG_VL53L1X_PARAM_DISTANCE_MODE  (VL53L1X_DIST_LONG)
+#endif
+/**@}*/
+
+/**
+ * @brief   Default VL53L1X configuration parameter set
+ */
+#ifndef VL53L1X_PARAMS
+#if !IS_USED(MODULE_VL53L1X_BASIC)
+#define VL53L1X_PARAMS { \
+                            .i2c_dev = VL53L1X_PARAM_DEV,  \
+                            .vddio_2v8 = VL53L1X_PARAM_VDDIO_2V8, \
+                            .pin_int = VL53L1X_PARAM_PIN_INT, \
+                            .pin_shutdown = VL53L1X_PARAM_PIN_SHUTDOWN, \
+                            .budget = CONFIG_VL53L1X_PARAM_TIMING_BUDGET, \
+                            .period = CONFIG_VL53L1X_PARAM_PERIOD, \
+                            .mode = CONFIG_VL53L1X_PARAM_DISTANCE_MODE, \
+                        }
+#else /* !IS_USED(MODULE_VL53L1X_BASIC) */
+#define VL53L1X_PARAMS { \
+                            .i2c_dev = VL53L1X_PARAM_DEV,  \
+                            .vddio_2v8 = VL53L1X_PARAM_VDDIO_2V8, \
+                            .pin_int = VL53L1X_PARAM_PIN_INT, \
+                        }
+#endif /* !IS_USED(MODULE_VL53L1X_BASIC) */
+#endif /* VL53L1X_PARAMS */
+
+/**
+ * @brief   Default SAUL device information
+ */
+#ifndef VL53L1X_SAUL_INFO
+#define VL53L1X_SAUL_INFO          { .name = "vl53l1x" }
+#endif
+
+/**
+ * @brief   Allocate some memory to store the default configuration
+ */
+static const vl53l1x_params_t vl53l1x_params[] =
+{
+    VL53L1X_PARAMS
+};
+
+/**
+ * @brief   Additional meta information to keep in the SAUL registry
+ */
+static const saul_reg_info_t vl53l1x_saul_info[] =
+{
+    VL53L1X_SAUL_INFO
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* VL53L1X_PARAMS_H */
+/** @} */