一、添加、编译驱动

1、从ST官方下载en.STSW-IMG005软件包，当前最新为1.0.4版本，软件包中有LinuxDriverMassMarket_1.0.7文件夹，继续打开LinuxDriverMassMarket_1.0.7\kernel\drivers\input\misc目录，将目录下的vl53L0X文件夹及内容拷贝到SDK的\kernel\drivers\input\misc目录下，修改misc目录下的Makefile及Kconfig添加VL53L01。

Makefile末尾添加：

obj-$(CONFIG_STMVL53L0X)     += vl53L0X/

Kconfig末尾添加：

config STMVL53L0X      tristate "ST VL53L0x haptics support"depends on INPUT && I2Cselect INPUT_FF_MEMLESSselect REGMAP_I2ChelpSay Y to enable support for the ST VL53L0x haptics driver.To compile this driver as a module, choose M here: themodule will be called vl53l0x-haptics.

添加再endif之前。

2、修改vl53L0X目录下的Makefile，改为以下内容：

#
# Makefile for the vl53L0X drivers.
## Each configuration option enables a list of files.
FEATURE_USE_CCI := false
#FEATURE_USE_CCI := trueifeq ($(FEATURE_USE_CCI), true)
ccflags-y   += -Idrivers/input/misc/vl53L0X/inc -DCAMERA_CCI
else
ccflags-y   += -Idrivers/input/misc/vl53L0X/inc -DSTM_TEST
ccflags-y   += -Idrivers/input/misc/vl53L0X
endifccflags-y += -Idrivers/media/platform/msm/camera_v2/sensor/io
ccflags-y += -Idrivers/media/platform/msm/camera_v2
ccflags-y += -Idrivers/media/platform/msm/camera_v2/common
ccflags-y += -Idrivers/media/platform/msm/camera_v2/sensor/cciSRCS := $(wildcard ./src/*.c)
OBJS = $(SRCS:.c=.o)obj-$(CONFIG_STMVL53L0X)            += stmvl53l0x.o
stmvl53l0x-objs             := stmvl53l0x_module.o stmvl53l0x_module-i2c.o stmvl53l0x_module-cci.o src/vl53l0x_api_calibration.o src/vl53l0x_api_core.o src/vl53l0x_api_ranging.o src/vl53l0x_api_strings.o src/vl53l0x_api.o src/vl53l0x_platform.o src/vl53l0x_i2c_platform.o src/vl53l0x_port_i2c.o

不修改编译会报错。

3、DTS文件中添加设备节点，需根据电路图确定VL53L01传感器是挂在那个i2c总线上，比如I2C2总线上，需在I2C2节点下方增加vl53l01的节点：

 vl53l0x: vl53l0x@29 {compatible = "st,stmvl53l0";reg = <0x29>;status = "okay";};

4、进入SDK的kernel目录下，执行make menuconfig ARCH=arm64修改内核配置文件，添加 ST VL53L0x xxx

然后选择save，然后Exit，然后执行cp .config arch/arm64/configs/rockchip_linux_defconfig保存配置文件，然后重新编译内核，编译完成后烧写进主板。

5、接上传感器并将主板的日志打印串口连接到电脑的终端软件，然后启动主板，系统启动完成之后在终端输入dmesg | grep vl，查看vl53l01的加载日志：

[root@RK356X:/]# dmesg | grep stmvl
[    0.896764] stmvl53l0x_init: Enter
[    0.896781] stmvl53l0x_init_i2c: Enter
[    0.896824] stmvl53l0x_init_i2c: End with rc:-22
[    0.896839] stmvl53l0x_init: 1986 failed with -22
[    0.896849] stmvl53l0x_init: End
[    1.021873] stmvl53l0x_probe: Enter
[    1.021899] stmvl53l0x_parse_vdd: Enter
[    1.021919] stmvl53l0 2-0029: Looking up vdd-supply from device tree
[    1.021926] stmvl53l0 2-0029: Looking up vdd-supply property in node /i2c@fe5b0000/vl53l0x@29 failed
[    1.021953] stmvl53l0 2-0029: 2-0029 supply vdd not found, using dummy regulator
[    1.022028] stmvl53l0 2-0029: Linked as a consumer to regulator.0
[    1.022043] stmvl53l0x_parse_vdd: End
[    1.022056] stmvl53l0x_setup: Enter
[    1.022220] stmvl53l0x_poll_thread(758) : Starting Polling thread
[    1.022524] stmvl53l0x_setup: Misc device registration name:2-0029
[    1.022660] stmvl53l0x_setup: support ver. 1.0.5 enabled
[    1.022676] stmvl53l0x_setup: End
[    1.022678] stmvl53l0x_probe: End

经过实际测试，无论传感器与主板连接与否，都是这些日志，所以不能通过启动日志判断传感器是否正常连接。

6、可通过i2c tool工具查看传感器是否连接，命令终端输入i2cdetect -y 2即可查看i2c2总线上挂载的设备，如果传感器连接正常即可看到有0x29地址的设备。

7、测试传感器读取距离值

使用SDK的编译工具编译LinuxDriverMassMarket_1.0.7\kernel目录下的vl53l0x_test应用，编译成功后将执行文件推送到主板，然后运行，正常情况即可看到日志打印距离值，由于没有进行传感器校准，所以读取的距离值和实际距离值有偏差。

运行vl53l01x_test的日志

[root@RK356X:/userdata/bin]# ./vl53l0x_test
[  175.411550] VL53L0X_GetDeviceInfo:
[  175.420316] Device Name : VL53L0X ES1 or later
[  175.420355] Device Type : VL53L0X
[  175.420363] Device ID : VL53L0C
[  175.420370] Product type: 238
[  175.420378] ProductRevisionMajor : 1
[  175.420385] ProductRevisionMinor : 1
[  175.420391] Call of VL53L0X_StaticInit
[  175.497162] Call of VL53L0X_SetDeviceMode
[  175.501836] DeviceMode:0x1, interMeasurems:30==
[  175.503118] Configure Long Ranging
[  175.503555] Set Timing Budget = 26000
Range:  45, Error:0, SigRate_mcps:1744896, AmbRate_mcps:   1536

8、中断或查询模式

stmvl53l0x_module.cwe文件中有#define USE_INT宏定义用于定义使用中断模式或查询模式读取寄存器状态，如果取消USE_INT的注释，则使用中断模式，使用中断模式需要连接传感器的INT管脚到处理器的GPIO上。

二、修改驱动

1、通过宏定义开启或关闭日志打印，需要修改下stmvl53l0x.h文件：

将

#define DEBUG
#define vl53l0x_dbgmsg(str, args...)    \pr_err("%s: " str, __func__, ##args)
#define vl53l0x_errmsg(str, args...) \pr_err("%s: " str, __func__, ##args)

改为：

#define DEBUG#ifdef DEBUG
#define vl53l0x_dbgmsg(str, args...)    \pr_err("%s: " str, __func__, ##args)
#define vl53l0x_errmsg(str, args...) \pr_err("%s: " str, __func__, ##args)
#else
#define vl53l0x_dbgmsg(str, args...)    \(void)0
#define vl53l0x_errmsg(str, args...) \(void)0
#endif

如果想关闭日志打印，则注释#define DEBUG即可。

2、在stmvl53l0x_module-i2c.c文件的stmvl53l0x_probe()加入检测传感器是否连接的代码，通过读取传感器的ID号以判断传感器是否连接，在stmvl53l0x_parse_vdd(&i2c_object->client->dev, i2c_object);之后加入如下代码：

 /* read VL53L0X ID */Status = VL53L0X_RdByte(vl53l0x_data, VL53L0X_REG_IDENTIFICATION_MODEL_ID,&module_id);if( Status ){vl53l0x_dbgmsg("get module_id err:%d\n", Status );}else{vl53l0x_dbgmsg("module_id:%02X\n", module_id );}

3、中断模式的IRQ_NUM从DTS文件中解析

驱动默认注释了USE_INT （/* #define USE_INT */），即不使用中断模式，并且中断的GPIO号实在驱动中定义的，这样方便管脚的更换，可修改为从DTS文件中解析。

stmvl53l0x.h文件的struct stmvl53l0x_data{ }结构中增加irq_gpiounsigned和irq_gpio_flags两个变量：

struct stmvl53l0x_data {/* !<embed ST VL53L0 Dev data as "dev_data" */VL53L0X_DevData_t Data;/*!< i2c device address user specific field*/uint8_t   I2cDevAddr;/*!< Type of comms : VL53L0_COMMS_I2C or VL53L0_COMMS_SPI */uint8_t   comms_type;/*!< Comms speed [kHz] : typically 400kHz for I2C */uint16_t  comms_speed_khz;/* CCI_BUS; I2C_BUS */uint8_t   bus_type;void *client_object; /* cci or i2c client */struct mutex update_lock;struct delayed_work  dwork;      /* for PS  work handler */struct input_dev *input_dev_ps;struct kobject *range_kobj;const char *dev_name;/* function pointer *//* misc device */struct miscdevice miscdev;int irq_gpio;unsigned int irq_gpio_flags;int irq;unsigned int reset;/* control flag from HAL */unsigned int enable_ps_sensor;/* PS parameters */unsigned int ps_data;         /* to store PS data *//* Calibration parameters */unsigned int offsetCalDistance;unsigned int xtalkCalDistance;/* Range Data */VL53L0X_RangingMeasurementData_t rangeData;/* Device parameters */VL53L0X_DeviceModes    deviceMode;uint32_t     interMeasurems;VL53L0X_GpioFunctionality gpio_function;VL53L0X_InterruptPolarity gpio_polarity;FixPoint1616_t low_threshold;FixPoint1616_t high_threshold;/* delay time in miniseconds*/uint8_t delay_ms;/* Timing Budget */uint32_t    timingBudget;/* Use this threshold to force restart ranging */uint32_t       noInterruptCount;/* Use this flag to use long ranging*/int           useLongRange;/* Polling thread */struct task_struct *poll_thread;/* Wait Queue on which the poll thread blocks */wait_queue_head_t poll_thread_wq;/* Recent interrupt status */uint32_t       interruptStatus;struct mutex work_mutex;/* Debug */unsigned int enableDebug;uint8_t interrupt_received;
};

stmvl53l0x_module-i2c.c文件中增加#include <linux/of_device.h>

stmvl53l0x_module-i2c.c文件中增加stmvl53l0x_parse_dt()函数：

static int stmvl53l0x_parse_dt(struct device *dev, struct stmvl53l0x_data *pdata)
{int ret = 0;struct device_node *np = dev->of_node;const  struct of_device_id *match;match=of_match_device(st_stmvl53l0x_dt_match,dev);if(!match){vl53l0x_errmsg("DTS Unable to find matchv device.");return -1; }pdata->irq_gpio = of_get_named_gpio_flags(np, "st,irq-gpio", 0, &pdata->irq_gpio_flags);if (pdata->irq_gpio < 0){vl53l0x_errmsg("DTS Unable to get irq_gpio");ret = -1;}else{vl53l0x_dbgmsg("irq gpio:%d", pdata->irq_gpio);}return ret;
}

在stmvl53l0x_probe()函数中调用此函数：

static int stmvl53l0x_probe(struct i2c_client *client,const struct i2c_device_id *id)
{int rc = 0;struct stmvl53l0x_data *vl53l0x_data = NULL;struct i2c_data *i2c_object = NULL;VL53L0X_Error Status = VL53L0X_ERROR_NONE;uint8_t module_id;vl53l0x_dbgmsg("Enter\n");if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_BYTE)) {rc = -EIO;return rc;}vl53l0x_data = kzalloc(sizeof(struct stmvl53l0x_data), GFP_KERNEL);if (!vl53l0x_data) {rc = -ENOMEM;return rc;}if (vl53l0x_data) {vl53l0x_data->client_object =kzalloc(sizeof(struct i2c_data), GFP_KERNEL);i2c_object = (struct i2c_data *)vl53l0x_data->client_object;}i2c_object->client = client;/* setup bus type */vl53l0x_data->bus_type = I2C_BUS;/* setup regulator */stmvl53l0x_parse_vdd(&i2c_object->client->dev, i2c_object);/* setup dt */stmvl53l0x_parse_dt(&i2c_object->client->dev, vl53l0x_data);/* read VL53L0X ID */Status = VL53L0X_RdByte(vl53l0x_data, VL53L0X_REG_IDENTIFICATION_MODEL_ID,&module_id);if( Status ){vl53l0x_dbgmsg("get module_id err:%d\n", Status );}else{vl53l0x_dbgmsg("module_id:%02X\n", module_id );}/* setup device name */vl53l0x_data->dev_name = dev_name(&client->dev);/* setup device data */dev_set_drvdata(&client->dev, vl53l0x_data);/* setup client data */i2c_set_clientdata(client, vl53l0x_data);/* setup other stuff */rc = stmvl53l0x_setup(vl53l0x_data);/* init default value */i2c_object->power_up = 0;vl53l0x_dbgmsg("End\n");return rc;
}

修改stmvl53l0x_module.c文件，

将

 gpio_request(IRQ_NUM, "vl53l0x_gpio_int");gpio_direction_input(IRQ_NUM);irq = gpio_to_irq(IRQ_NUM);if (irq < 0) {vl53l0x_errmsg("filed to map GPIO: %d to interrupt:%d\n",IRQ_NUM, irq);

改为

 gpio_request( data->irq_gpio, "vl53l0x_gpio_int");gpio_direction_input(data->irq_gpio);irq = gpio_to_irq(data->irq_gpio);if (irq < 0) {vl53l0x_errmsg("filed to map GPIO: %d to interrupt:%d\n",data->irq_gpio, irq);

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RK3566调试VL53L01

一、添加、编译驱动

二、修改驱动

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