distance_sensor/vl53l0x: move to PX4Rangefinder and cleanup

boards/bitcraze/crazyflie/default.cmake

@@ -8,7 +8,7 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	DRIVERS
 		barometer/lps25h
-		distance_sensor/vl53lxx
+		distance_sensor/vl53l0x
 		gps
 		imu/mpu9250
 		optical_flow/pmw3901

boards/bitcraze/crazyflie/init/rc.board_sensors

@@ -12,4 +12,4 @@ mpu9250 -I -R 12 start
 lps25h -I start
 
 # Optical flow deck
-vl53lxx start -X
+vl53l0x start -X

src/drivers/distance_sensor/CMakeLists.txt

@@ -44,4 +44,4 @@ add_subdirectory(srf02)
 add_subdirectory(teraranger)
 add_subdirectory(tfmini)
 add_subdirectory(ulanding_radar)
-add_subdirectory(vl53lxx)
+add_subdirectory(vl53l0x)

src/drivers/distance_sensor/vl53l0x/CMakeLists.txt

@@ -32,10 +32,12 @@
 ############################################################################
 
 px4_add_module(
-	MODULE drivers__vl53lxx
-	MAIN vl53lxx
-	COMPILE_FLAGS
-		-Wno-cast-align # TODO: fix and enable
+	MODULE drivers__distance_sensor__vl53l0x
+	MAIN vl53l0x
 	SRCS
-		vl53lxx.cpp
+		VL53L0X.cpp
+		VL53L0X.hpp
+	DEPENDS
+		drivers_rangefinder
+		px4_work_queue
 	)

src/drivers/distance_sensor/vl53l0x/VL53L0X.hpp

@@ -0,0 +1,116 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018-2020 PX4 Development Team. All rights reserved.
+ *
+ * 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 PX4 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file VL53L0X.hpp
+ *
+ * Driver for the ST VL53L0X ToF Sensor connected via I2C.
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/getopt.h>
+#include <px4_platform_common/i2c_spi_buses.h>
+#include <px4_platform_common/module.h>
+#include <drivers/device/i2c.h>
+#include <drivers/drv_hrt.h>
+#include <lib/perf/perf_counter.h>
+#include <lib/drivers/rangefinder/PX4Rangefinder.hpp>
+
+/* Configuration Constants */
+#define VL53L0X_BASEADDR                                0x29
+
+class VL53L0X : public device::I2C, public I2CSPIDriver<VL53L0X>
+{
+public:
+	VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency,
+		int address = VL53L0X_BASEADDR);
+
+	~VL53L0X() override;
+
+	static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator,
+					     int runtime_instance);
+	static void print_usage();
+
+	/**
+	 * Diagnostics - print some basic information about the driver.
+	 */
+	void print_status() override;
+
+	/**
+	 * Initialise the automatic measurement state machine and start it.
+	 */
+	void start();
+
+	/**
+	 * Perform a poll cycle; collect from the previous measurement
+	 * and start a new one.
+	 */
+	void RunImpl();
+
+private:
+	int probe() override;
+
+	/**
+	 * Collects the most recent sensor measurement data from the i2c bus.
+	 */
+	int collect();
+
+	/**
+	 * Sends an i2c measure command to the sensor.
+	 */
+	int measure();
+
+	int readRegister(const uint8_t reg_address, uint8_t &value);
+	int readRegisterMulti(const uint8_t reg_address, uint8_t *value, const uint8_t length);
+
+	int writeRegister(const uint8_t reg_address, const uint8_t value);
+	int writeRegisterMulti(const uint8_t reg_address, const uint8_t *value, const uint8_t length);
+
+	int sensorInit();
+	int sensorTuning();
+	int singleRefCalibration(const uint8_t byte);
+	int spadCalculations();
+
+	PX4Rangefinder	_px4_rangefinder;
+
+	bool _collect_phase{false};
+	bool _measurement_started{false};
+	bool _new_measurement{true};
+
+	uint8_t _stop_variable{0};
+
+	perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")};
+	perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")};
+};

src/drivers/drv_sensor.h

@@ -137,7 +137,7 @@
 #define DRV_DIST_DEVTYPE_SF1XX        0x73
 #define DRV_DIST_DEVTYPE_SRF02        0x74
 #define DRV_DIST_DEVTYPE_TERARANGER   0x75
-#define DRV_DIST_DEVTYPE_VL53LXX      0x76
+#define DRV_DIST_DEVTYPE_VL53L0X      0x76
 #define DRV_POWER_DEVTYPE_INA226      0x77
 #define DRV_POWER_DEVTYPE_VOXLPM      0x78
 #define DRV_LED_DEVTYPE_BLINKM        0x79