Feature/rangefinder vl53l1x

src/main/CMakeLists.txt

@@ -226,6 +226,8 @@ main_sources(COMMON_SRC
     drivers/rangefinder/rangefinder_srf10.h
     drivers/rangefinder/rangefinder_vl53l0x.c
     drivers/rangefinder/rangefinder_vl53l0x.h
+    drivers/rangefinder/rangefinder_vl53l1x.c
+    drivers/rangefinder/rangefinder_vl53l1x.h
     drivers/rangefinder/rangefinder_virtual.c
     drivers/rangefinder/rangefinder_virtual.h
 

src/main/drivers/bus.h

@@ -137,6 +137,7 @@ typedef enum {
     DEVHW_SRF10,
     DEVHW_HCSR04_I2C,   // DIY-style adapter
     DEVHW_VL53L0X,
+    DEVHW_VL53L1X,
 
     /* Other hardware */
     DEVHW_MS4525,       // Pitot meter

src/main/drivers/rangefinder/rangefinder_vl53l1x.h

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#define RANGEFINDER_VL53L1X_TASK_PERIOD_MS  (40)
+
+bool vl53l1xDetect(rangefinderDev_t *dev);

src/main/fc/settings.yaml

@@ -7,7 +7,7 @@ tables:
     values: ["NONE", "AUTO", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "MPU9250", "BMI160", "ICM20689", "FAKE"]
     enum: accelerationSensor_e
   - name: rangefinder_hardware
-    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE"]
+    values: ["NONE", "HCSR04", "SRF10", "INAV_I2C", "VL53L0X", "MSP", "UNUSED", "BENEWAKE", "VL53L1X"]
     enum: rangefinderType_e
   - name: mag_hardware
     values: ["NONE", "AUTO", "HMC5883", "AK8975", "GPSMAG", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "FAKE"]

src/main/sensors/rangefinder.c

@@ -40,6 +40,7 @@
 #include "drivers/rangefinder/rangefinder_srf10.h"
 #include "drivers/rangefinder/rangefinder_hcsr04_i2c.h"
 #include "drivers/rangefinder/rangefinder_vl53l0x.h"
+#include "drivers/rangefinder/rangefinder_vl53l1x.h"
 #include "drivers/rangefinder/rangefinder_virtual.h"
 
 #include "fc/config.h"
@@ -131,6 +132,15 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
 #endif
             break;
 
+            case RANGEFINDER_VL53L1X:
+#if defined(USE_RANGEFINDER_VL53L1X)
+            if (vl53l1xDetect(dev)) {
+                rangefinderHardware = RANGEFINDER_VL53L1X;
+                rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_VL53L1X_TASK_PERIOD_MS));
+            }
+#endif
+            break;
+
         case RANGEFINDER_MSP:
 #if defined(USE_RANGEFINDER_MSP)
             if (virtualRangefinderDetect(dev, &rangefinderMSPVtable)) {

src/main/sensors/rangefinder.h

@@ -30,6 +30,7 @@ typedef enum {
     RANGEFINDER_MSP         = 5,
     RANGEFINDER_UNUSED      = 6,    // Was UIB
     RANGEFINDER_BENEWAKE    = 7,
+    RANGEFINDER_VL53L1X     = 8,
 } rangefinderType_e;
 
 typedef struct rangefinderConfig_s {

src/main/target/common.h

@@ -97,6 +97,7 @@
 #define USE_RANGEFINDER_MSP
 #define USE_RANGEFINDER_BENEWAKE
 #define USE_RANGEFINDER_VL53L0X
+#define USE_RANGEFINDER_VL53L1X
 #define USE_RANGEFINDER_HCSR04_I2C
 
 // Allow default optic flow boards

src/main/target/common_hardware.c

@@ -295,6 +295,15 @@
     #endif
 #endif
 
+#if defined(USE_RANGEFINDER_VL53L1X)
+    #if !defined(VL53L1X_I2C_BUS) && defined(RANGEFINDER_I2C_BUS)
+        #define VL53L1X_I2C_BUS RANGEFINDER_I2C_BUS
+    #endif
+
+    #if defined(VL53L1X_I2C_BUS)
+    BUSDEV_REGISTER_I2C(busdev_vl53l1x,     DEVHW_VL53L1X,      VL53L1X_I2C_BUS,    0x29,               NONE,           DEVFLAGS_USE_RAW_REGISTERS,  0);
+    #endif
+#endif
 
 /** AIRSPEED SENSORS **/