X2000 Linux 调试VL53L0X

之前在RK3566上调试过VL53L0X，这次主要参照之前的记录，在X2000 linux上进行调试。

一、SDK中加入驱动

1、加入源码

不同于常规的方式，将驱动添加到kernel/driver下，君正的linux sdk，需要将驱动添加到module_driver下，可参照doc下的《模块驱动添加流程.pdf》文档。

将vl53L0X文件夹及内容添加到\module_driver\devices下，然后修改Makefile，内容如下：

#
# Makefile for the vl53L0X drivers.
#

# Each configuration option enables a list of files.
FEATURE_USE_CCI := false
#FEATURE_USE_CCI := true

ifeq ($(FEATURE_USE_CCI), true)
ccflags-y	+= -I$(DRIVERS_DIR)/devices/vl53L0X/inc -DCAMERA_CCI
else
ccflags-y	+= -I$(DRIVERS_DIR)/devices/vl53L0X/inc
ccflags-y	+= -I$(DRIVERS_DIR)/devices/vl53L0X
endif


include $(DRIVERS_DIR)/tools/common_module.mk

EXTRA_CFLAGS +=-Wno-error=date-time
EXTRA_CFLAGS +=-Wno-date-time
MODULE_NAME:= stmvl53l0x

module-y	+=  stmvl53l0x_module.o
module-y	+=  stmvl53l0x_module-i2c.o
module-y	+=  stmvl53l0x_module-cci.o
module-y	+=  src/vl53l0x_api_calibration.o
module-y	+=  src/vl53l0x_api_core.o
module-y	+=  src/vl53l0x_api_ranging.o
module-y	+=  src/vl53l0x_api_strings.o
module-y	+=  src/vl53l0x_api.o
module-y	+=  src/vl53l0x_platform.o
module-y	+=  src/vl53l0x_i2c_platform.o
module-y	+=  src/vl53l0x_port_i2c.o

KBUILD_EXTRA_SYMBOLS := $(DRIVERS_DIR)/drivers/utils/Module.symvers

obj-m = $(MODULE_NAME).o
$(MODULE_NAME)-y = $(module-y)

2、添加配置文件

在\module_driver\package\devices\other路径下添加

vl53l0x\Config.in

vl53l0x\vl53l0x.mk

两个文件。

vl53l0x\Config.in的内容如下：

menuconfig MD_STMVL53L0X
    bool "stmvl53l0x"

config MD_VL53L0X_IRQ_GPIO
    string "gpio irq(vl53L0x 中断引脚)"
    choice from SOC_GPIO_PINS

config MD_VL53L0X_I2C_BUSNUM
    int "i2c bus num(VL53L0X挂接的i2c总线号)"
    default -1

endmenu

用于配置所连接的I2C总线编号。

vl53l0x\vl53l0x.mk内容如下：

#-------------------------------------------------------
package_name = vl53l0x
package_depends = utils
package_module_src = devices/vl53L0X/
package_make_hook =
package_init_hook =
package_finalize_hook = vl53l0x_finalize_hook
package_clean_hook =
#-------------------------------------------------------

vl53l0x_init_file = output/vl53l0x.sh

define vl53l0x_finalize_hook
	$(Q)cp devices/vl53L0X/stmvl53l0x.ko output/
	$(Q)echo "insmod stmvl53l0x.ko \\" >> $(vl53l0x_init_file)
	$(Q)echo " vl53l0x_i2c_bus_num=$(MD_VL53L0X_I2C_BUSNUM) \\" >> $(vl53l0x_init_file)

	$(Q)echo " vl53l0x_irq_gpio=$(MD_VL53L0X_IRQ_GPIO) \\" >> $(vl53l0x_init_file)
	$(Q)echo >> $(vl53l0x_init_file)
endef

用于将编译生成的驱动模块拷贝到\module_driver\output目录下，生成驱动的加载脚本。

修改other\Config.in，加入vl53L0X的配置：

menu "其它类型设备列表"
source /package/devices/other/pwm_battery/Config.in
source /package/devices/other/vl53l0x/Config.in
endmenu

修改other\other.mk，加入vl53L0x的mk：

package-$(MD_PWM_BATTERY) += package/devices/other/pwm_battery/pwm_battery.mk
package-$(MD_STMVL53L0X) += package/devices/other/vl53l0x/vl53l0x.mk

3、配置文件中选中vl53L0X

cd到tools/iconfigtool/IConfigToolApp/目录，执行./IConfigTool，选择要修改的配置文件

 点击Open

依次点击 模块驱动->外设->其它类型驱动列表，选中stmvl53l0x。

 然后点击File->Save。

二、修改驱动源码

由于st官方的驱动文件适用于常规方式，但用于君正平台，需要做些修改。

1、stmvl53l0x_module-i2c.c文件修改

包含头文件

#include 
#include 

stmvl53l0x_init_i2c()函数中添加代码：

++static u32 i2c_bus_num;

++struct i2c_client * i2c_connect_client = NULL;
++/* get data */
++module_param_named(vl53l0x_i2c_bus_num , i2c_bus_num, int, 0644);

++static struct i2c_board_info vl53l0x_info = {
++    .type = STMVL53L0X_DRV_NAME,
++    .addr = STMVL53L0X_SLAVE_ADDR,
++};

int stmvl53l0x_init_i2c(void)
{
	int ret = 0;

#ifdef STM_TEST
	struct i2c_client *client = NULL;
	struct i2c_adapter *adapter;
	struct i2c_board_info info = {
		.type = "stmvl53l0",
		.addr = STMVL53L0X_SLAVE_ADDR,
	};
#endif

	vl53l0x_dbgmsg("Enter\n");

	/* register as a i2c client device */
	ret = i2c_add_driver(&stmvl53l0x_driver);
	if (ret < 0)
		vl53l0x_errmsg("%d erro ret:%d\n", __LINE__, ret);

#ifdef STM_TEST
	if (!ret) {
		adapter = i2c_get_adapter(4);
		if (!adapter)
			ret = -EINVAL;
		else
			client = i2c_new_device(adapter, &info);
		if (!client)
			ret = -EINVAL;
	}
#endif

++    i2c_connect_client = i2c_register_device(&vl53l0x_info, i2c_bus_num);
++    if (i2c_connect_client == NULL) {
++        vl53l0x_errmsg("failed to register i2c device\n");
++        i2c_del_driver(&stmvl53l0x_driver);
++        return -EINVAL;
++    }
	
	vl53l0x_dbgmsg("End with rc:%d\n", ret);

	return ret;
}

stmvl53l0x_power_up_i2c()内容修改：

int stmvl53l0x_power_up_i2c(void *i2c_object, unsigned int *preset_flag)
{
	int ret = 0;
	
#ifndef STM_TEST
	struct i2c_data *data = (struct i2c_data *)i2c_object;
#endif

	vl53l0x_dbgmsg("Enter\n");

	/* actual power on */
#ifndef STM_TEST
	data->power_up = 1;
	*preset_flag = 1;
#endif

	vl53l0x_dbgmsg("End\n");
	return ret;
}

stmvl53l0x_power_down_i2c()内容修改：

int stmvl53l0x_power_down_i2c(void *i2c_object)
{
	int ret = 0;
#ifndef STM_TEST
	struct i2c_data *data = (struct i2c_data *)i2c_object;
#endif

	vl53l0x_dbgmsg("Enter\n");
#ifndef STM_TEST
	data->power_up = 0;
#endif

	vl53l0x_dbgmsg("End\n");
	return ret;
}

2、stmvl53l0x_module.c文件修改

++#include 

--#define    IRQ_NUM

++int IRQ_NUM;

++//irq gpio info
++module_param_gpio_named(vl53l0x_irq_gpio, IRQ_NUM, 0644);

三、编译、运行

cd到build目录，执行

make x2100_nand_defconfig
make app_module_driver
make buildroot

编程成功后，会生成新的rootfs.squashfs，重新烧写rootfs.squashfs文件。

如果一切正常，启动后/dev目录下有stmvl53l0x_ranging设备。