由于VL53L4CD具有更高的精度，更低的功耗，所以尝试将VL53L4CD移植到X2000上进行测试。

一、下载驱动

en.VL53L4CD_LinuxDriver

 二、SDK中加入驱动

1、加入源码

在\module_driver\devices下创建VL53L4CD文件夹，再将\en.VL53L4CD_LinuxDriver\VL53L4CD_LinuxDriver_V2.1.1\kernel中的stmvl53l4cd_i2c.c、stmvl53l4cd_module.c、stmvl53l4cd_i2c.h文件拷贝到\module_driver\devices\VL53L4CD下。

2、添加Makefile

再创建一个Makefile，写入内容如下：

#
# Makefile for the stmvl53l4cd drivers.
#

include $(DRIVERS_DIR)/tools/common_module.mk

EXTRA_CFLAGS +=-Wno-error=date-time
EXTRA_CFLAGS +=-Wno-date-time
MODULE_NAME:= stmvl53l4cd

module-y	+=  stmvl53l4cd_i2c.o
module-y	+=  stmvl53l4cd_module.o

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

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

 3、修改stmvl53l4cd_module.c文件

/*
 * GPIO number connected to VL53L4CD interrupt signal GPIO1
 */
--#define IRQ_GPIO -1

--static int intr_gpio_nb = IRQ_GPIO;
++static int intr_gpio_nb;

++//irq gpio info
++module_param_gpio_named(stmvl53l4cd_irq_gpio, intr_gpio_nb, 0644);

--module_param(intr_gpio_nb, int, 0000);
--MODULE_PARM_DESC(intr_gpio_nb, "select gpio number to use for vl53l4cd interrupt");

++static u32 i2c_bus_num;
++struct i2c_client * i2c_connect_client = NULL;
++/* get data */
++module_param_named(stmvl53l4cd_i2c_bus_num , i2c_bus_num, int, 0644);


++static struct i2c_board_info stmvl53l4cd_info = {
++    .type = STMVL53L4CD_DRV_NAME,
++    .addr = STMVL53L4CD_SLAVE_ADDR,
++};


static int __init st_tof_module_init(void)
{
	int ret = 0;

	printk("stmvl53l4cd: module init\n");

	/* register as a i2c client device */
	ret = i2c_add_driver(&stmvl53l4cd_i2c_driver);

	if (ret) {
		i2c_del_driver(&stmvl53l4cd_i2c_driver);
		printk("stmvl53l4cd: could not add i2c driver\n");
		return ret;
	}
	
++    i2c_connect_client = i2c_register_device(&stmvl53l4cd_info, i2c_bus_num);
++    if (i2c_connect_client == NULL) {
++        printk("failed to register i2c device\n");
++        i2c_del_driver(&stmvl53l4cd_i2c_driver);
++        return -EINVAL;
++    }

	i2c_driver_added = 1;

	return ret;
}

4、添加配置文件

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

VL53L4CD\Config.in

VL53L4CD\vl53l4cd.mk

两个文件。

VL53L4CD\Config.in的内容如下：

menuconfig MD_STMVL53l4CD
    bool "stmvl53l4cd"

config MD_VL53L4CD_IRQ_GPIO
    string "gpio irq(VL53L4CD 中断引脚)"
    choice from SOC_GPIO_PINS

config MD_VL53L4CD_I2C_BUSNUM
    int "i2c bus num(VL53L4CD挂接的i2c总线号)"
    default -1

endmenu

用于配置所连接的I2C总线编号、IRQ GPIO编号。

VL53L4CD\vl53l4cd.mk内容如下：

#-------------------------------------------------------
package_name = stmvl53l4cd
package_depends = utils
package_module_src = devices/VL53L4CD/
package_make_hook =
package_init_hook =
package_finalize_hook = stmvl53l4cd_finalize_hook
package_clean_hook =
#-------------------------------------------------------

stmvl53l4cd_init_file = output/stmvl53l4cd.sh

define stmvl53l4cd_finalize_hook
	$(Q)cp devices/VL53L4CD/stmvl53l4cd.ko output/
	$(Q)echo "insmod stmvl53l4cd.ko \\" >> $(stmvl53l4cd_init_file)
	$(Q)echo " stmvl53l4cd_i2c_bus_num=$(MD_VL53L4CD_I2C_BUSNUM) \\" >> $(stmvl53l4cd_init_file)

	$(Q)echo " stmvl53l4cd_irq_gpio=$(MD_VL53L4CD_IRQ_GPIO) \\" >> $(stmvl53l4cd_init_file)
	$(Q)echo >> $(stmvl53l4cd_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。

other\Config.in文件中加入VL53L4CD的配置：

source /package/devices/other/VL53L4CD/Config.in

other\other.mk文件中加入VL53L4CD的mk：

package-$(MD_STMVL53L0X) += package/devices/other/VL53L4CD/vl53l4cd.mk

5、配置文件中选中VL53L4CD

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stmvl53l4cd

 

点击 stmvl53l4cd后的==>，然后选择IRQ GPIO和填写I2C总线编号

 

 

三、编译和运行

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。