在X2000 Linux 调试VL53L4CD驱动章节中已从官方下载了驱动文件，文件如下：

一、 拷贝测试代码

将user拷贝到sdk\demo下，如下所示：

 2、修改Makefile

修改\user\test\Makefile指令CC为mips-linux-gnu-gcc

CC := mips-linux-gnu-gcc 

去掉CFLAGS_RELEASE += -DSTMVL53L4CD_KERNEL 的注释，使能STMVL53L4CD_KERNEL宏定义。

3、编译

先cd到sdk的build目录，然后执行x2100_nand_defconfig设置交叉编译器路径，再cd到demo\user\test目录，执行make即可完成编译。编译之后demo\user\test目录下会生成menu执行文件。

4、测试

将menu其推送到目标板的usr\data路径下。

执行以下命令修改menu的权限

# cd /usr/data/
# chmod 755 menu 

运行menu

# ./menu 
Kernel com init
Opened ST TOF Dev = 3
Starting examples of VL53L4CD driver (version 2.1.1.0)
----------------------------------------------------------------------------------------------------------
 VL53L4CD uld driver test example menu 
 ------------------ Ranging menu ------------------
 1 : basic ranging
 2 : low power
 3 : high accuracy
 4 : fast ranging
 5 : calibrate offset and Xatlk
 6 : detection thresholds - need to catch GPIO1 interrupt for this example
 7 : exit
----------------------------------------------------------------------------------------------------------
Your choice ?

需要输入一个数字选择要运行的example或exit。

1、输入1运行basic ranging:

Starting Test 1
VL53L4CD ULD ready !
Status =      4, Distance =   2073, Signal =      2
Status =      4, Distance =      0, Signal =      2
Status =      4, Distance =   2116, Signal =      2
Status =      2, Distance =      0, Signal =      2
Status =      4, Distance =   2100, Signal =      2
Status =      2, Distance =      0, Signal =      2
Status =      4, Distance =   2102, Signal =      2
Status =      4, Distance =      0, Signal =      2
Status =      4, Distance =   2093, Signal =      2
Status =      4, Distance =      0, Signal =      2
Status =      4, Distance =   2088, Signal =      1
Status =      2, Distance =      0, Signal =      2
Status =      4, Distance =      0, Signal =      2
Status =      2, Distance =      0, Signal =      2
Status =      4, Distance =   2062, Signal =      1
Status =      4, Distance =      0, Signal =      2
Status =      4, Distance =   2187, Signal =      6
Status =      7, Distance =    124, Signal =    137
Status =      0, Distance =    118, Signal =    297
Status =      0, Distance =    112, Signal =    383
Status =      0, Distance =     99, Signal =    502
Status =      0, Distance =     89, Signal =    593
Status =      0, Distance =     81, Signal =    742

...

返回结果：

status：执行结果，没找明确的说明，为0时结果可信；

Distance：实测距离，单位mm；

Signal：返回的信号强度，距离被测物体越近，此值越大；