[driver] driver for ST vl53l5, vl53l7, vl53l8

.gitmodules

@@ -52,3 +52,6 @@
 [submodule "ext/segger/rtt"]
 	path = ext/segger/rtt
 	url = https://github.com/modm-ext/segger-rtt.git
+[submodule "ext/vl53/vl53"]
+	path = ext/vl53/vl53
+	url = https://github.com/modm-ext/vl53-partial.git

examples/nucleo_h723zg/vl53/vl53l5cx_i2c/main.cpp

@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2025, Henrik Hose
+ *
+ * This file is part of the modm project.
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+// Tested with VL53L5CX-SATEL
+extern "C" {
+#include "../../../../ext/vl53/vl53/vl53l5cx/examples/Example_1_ranging_basic.h"
+#include "../../../../ext/vl53/vl53/vl53l5cx/examples/Example_2_get_set_params.h"
+#include "../../../../ext/vl53/vl53/vl53l5cx/examples/Example_3_ranging_modes.h"
+#include "../../../../ext/vl53/vl53/vl53l5cx/examples/Example_5_multiple_targets_per_zone.h"
+}
+
+#include <modm/driver/vl53/vl53.hpp>
+#include <modm/driver/vl53/vl53_transport.hpp>
+
+using namespace Board;
+
+using I2c = I2cMaster1;
+using Scl = GpioB8;  // D15
+using Sda = GpioB9;  // D14
+
+using Int = GpioB5;
+using Rst = GpioD14;
+using PwrEn = GpioD15;
+using LPn = GpioF3;
+
+modm::Vl53I2cTransport<I2c, LPn> transport{VL53L5CX_DEFAULT_I2C_ADDRESS >> 1};
+
+int
+main()
+{
+	Board::initialize();
+
+	Leds::setOutput();
+
+	PwrEn::setOutput(true);
+
+	LPn::setOutput(false);
+	// Snc::setOutput(false);
+
+	transport.resetSensor();
+
+	I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::External);
+	I2c::initialize<Board::SystemClock, 1_MHz, 10_pct>();
+
+	uint8_t device_id, revision_id;
+
+	example1(&transport);
+	example2(&transport);
+	example3(&transport);
+	example5(&transport);
+}

examples/nucleo_h723zg/vl53/vl53l5cx_i2c/project.xml

@@ -0,0 +1,14 @@
+<library>
+  <extends>modm:nucleo-h723zg</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/nucleo_h723zg/vl53l5cx_i2c</option>
+    <option name="modm:platform:cortex-m:main_stack_size">64Ki</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:dma</module>
+    <module>modm:platform:exti</module>
+    <module>modm:platform:i2c:1</module>
+    <module>modm:vl53:vl53l5cx</module>
+  </modules>
+</library>

examples/nucleo_h723zg/vl53/vl53l7_vl53l8_i2c/main.cpp

@@ -0,0 +1,60 @@
+/*
+ * Copyright (c) 2025, Henrik Hose
+ *
+ * This file is part of the modm project.
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+// Tested with MIKROE LIGHTRANGER 12 CLICK Breakout
+// with VL53L8CH variant, so histogram example 12 is supported
+extern "C" {
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_12_cnh_data.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_1_ranging_basic.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_2_get_set_params.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_3_ranging_modes.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_5_multiple_targets_per_zone.h"
+}
+
+#include <modm/driver/vl53/vl53.hpp>
+#include <modm/driver/vl53/vl53_transport.hpp>
+
+using namespace Board;
+
+using I2c = I2cMaster1;
+using Scl = GpioB8;  // D15
+using Sda = GpioB9;  // D14
+
+using Rst = GpioD6;
+using Snc = GpioB1;
+using LPn = GpioA3;
+using Int = GpioD7;
+
+modm::Vl53I2cTransport<I2c, LPn> transport{VL53LMZ_DEFAULT_I2C_ADDRESS >> 1};
+
+int
+main()
+{
+	Board::initialize();
+
+	Leds::setOutput();
+
+	LPn::setOutput(false);
+	Snc::setOutput(false);
+
+	transport.resetSensor();
+
+	I2c::connect<Scl::Scl, Sda::Sda>(I2c::PullUps::Internal);
+	I2c::initialize<Board::SystemClock, 1_MHz, 10_pct>();
+
+	example1(&transport);
+	example2(&transport);
+	example3(&transport);
+	example5(&transport);
+	example12(&transport);
+}

examples/nucleo_h723zg/vl53/vl53l7_vl53l8_i2c/project.xml

@@ -0,0 +1,14 @@
+<library>
+  <extends>modm:nucleo-h723zg</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/nucleo_h723zg/vl53l8_vl53l8_i2c</option>
+    <option name="modm:platform:cortex-m:main_stack_size">16Ki</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:dma</module>
+    <module>modm:platform:exti</module>
+    <module>modm:platform:i2c:1</module>
+    <module>modm:vl53:vl53lmz</module>
+  </modules>
+</library>

examples/nucleo_h723zg/vl53/vl53l8_spi/main.cpp

@@ -0,0 +1,64 @@
+/*
+ * Copyright (c) 2025, Henrik Hose
+ *
+ * This file is part of the modm project.
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/board.hpp>
+
+// Tested with MIKROE LIGHTRANGER 12 CLICK Breakout
+// with VL53L8CH variant, so histogram example 12 is supported
+extern "C" {
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_12_cnh_data.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_1_ranging_basic.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_2_get_set_params.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_3_ranging_modes.h"
+#include "../../../../ext/vl53/vl53/vl53lmz/examples/Example_5_multiple_targets_per_zone.h"
+}
+
+#include <modm/driver/vl53/vl53.hpp>
+#include <modm/driver/vl53/vl53_transport.hpp>
+
+using namespace Board;
+
+using SpiMaster = SpiMaster2_Dma<Dma1::Channel0, Dma1::Channel1>;
+using Cs = GpioC0;
+using Mosi = GpioB15;
+using Miso = GpioC2;
+using Sck = GpioD3;
+
+using Rst = GpioD6;
+using Snc = GpioB1;
+using LPn = GpioA3;
+using Int = GpioD7;
+
+modm::Vl53SpiTransport<SpiMaster, Cs, LPn> transport;
+
+int
+main()
+{
+	Board::initialize();
+
+	Dma1::enable();
+	Leds::setOutput();
+
+	LPn::setOutput(false);
+	Snc::setOutput(false);
+	Cs::setOutput(true);
+
+	transport.resetSensor();
+
+	SpiMaster::connect<Sck::Sck, Mosi::Mosi, Miso::Miso>();
+	SpiMaster::initialize<Board::SystemClock, 2.2_MHz, 10_pct>();
+
+	example1(&transport);
+	example2(&transport);
+	example3(&transport);
+	example5(&transport);
+	example12(&transport);
+}

examples/nucleo_h723zg/vl53/vl53l8_spi/project.xml

@@ -0,0 +1,14 @@
+<library>
+  <extends>modm:nucleo-h723zg</extends>
+  <options>
+    <option name="modm:build:build.path">../../../../build/nucleo_h723zg/vl53l8_spi</option>
+    <option name="modm:platform:cortex-m:main_stack_size">16Ki</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:platform:dma</module>
+    <module>modm:platform:exti</module>
+    <module>modm:platform:spi:2</module>
+    <module>modm:vl53:vl53lmz</module>
+  </modules>
+</library>

ext/vl53/vl53.hpp

@@ -0,0 +1,73 @@
+/*
+ * Copyright (c) 2025, Henrik Hose
+ *
+ * This file is part of the modm project.
+ *
+ * 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/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/platform.hpp>
+
+#include "vl53_transport.hpp"
+
+extern "C" {
+#include "vl53_platform.h"
+
+uint8_t
+VL53_RdByte(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_value)
+{
+	auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
+	return iface->readByte(RegisterAddress, p_value);
+}
+
+uint8_t
+VL53_WrByte(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t value)
+{
+	auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
+	return iface->writeByte(RegisterAddress, value);
+}
+
+uint8_t
+VL53_WrMulti(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_values, uint32_t size)
+{
+	auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
+	return iface->writeMulti(RegisterAddress, p_values, size);
+}
+
+uint8_t
+VL53_RdMulti(VL53_Platform *p_platform, uint16_t RegisterAddress, uint8_t *p_values, uint32_t size)
+{
+	auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
+	return iface->readMulti(RegisterAddress, p_values, size);
+}
+
+void
+VL53_SwapBuffer(uint8_t *buffer, uint16_t size)
+{
+	uint32_t i, tmp;
+
+	for (i = 0; i < size; i = i + 4)
+	{
+		tmp = (buffer[i] << 24) | (buffer[i + 1] << 16) | (buffer[i + 2] << 8) | (buffer[i + 3]);
+
+		memcpy(&(buffer[i]), &tmp, 4);
+	}
+}
+
+uint8_t
+VL53_WaitMs(VL53_Platform *p_platform, uint32_t TimeMs)
+{
+	modm::this_fiber::sleep_for(std::chrono::milliseconds(TimeMs));
+	return 0;
+}
+
+uint8_t
+VL53_Reset_Sensor(VL53_Platform *p_platform)
+{
+	auto *iface = static_cast<modm::Vl53TransportBase *>(p_platform->transport);
+	return iface->resetSensor();
+}
+}

ext/vl53/vl53.lb

@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2025, Henrik Hose
+#
+# This file is part of the modm project.
+#
+# 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/.
+# -----------------------------------------------------------------------------
+
+class Vl53l5cx(Module):
+    def init(self, module):
+        module.name = "vl53l5cx"
+        module.description = "Driver for ST VL53L5CX Multi-Zone Time-of-Flight Sensor"
+
+    def prepare(self, module, options):
+        return True
+
+    def build(self, env):
+        env.outbasepath = "modm/ext"
+        env.copy("vl53/vl53l5cx/src")
+        env.copy("vl53/vl53l5cx/inc")
+        env.copy("vl53/vl53l5cx/LICENSE.txt")
+        env.collect(":build:path.include", "modm/src/modm/driver/vl53")
+        env.collect(":build:path.include", "modm/ext/vl53/vl53l5cx/inc")
+
+class Vl53lmz(Module):
+    def init(self, module):
+        module.name = "vl53lmz"
+        module.description = "Driver for ST VL53L7 and VL53L8 Multi-Zone Time-of-Flight Sensors"
+
+    def prepare(self, module, options):
+        return True
+
+    def build(self, env):
+        env.outbasepath = "modm/ext"
+        env.copy("vl53/vl53lmz/src")
+        env.copy("vl53/vl53lmz/inc")
+        env.copy("vl53/vl53lmz/LICENSE.txt")
+        env.collect(":build:path.include", "modm/src/modm/driver/vl53")
+        env.collect(":build:path.include", "modm/ext/vl53/vl53lmz/inc")
+
+def init(module):
+    module.name = ":vl53"
+    module.description = """\
+# ST's VL53 Time-of-Flight ULD Drivers
+
+Currently supported sensors:
+ - With VL53LMZ driver: VL53L7CX, VL53L7CH, VL53L8CX, VL53L8CH
+ - VL53L5CX driver
+
+"""
+
+def prepare(module, options):
+    module.add_submodule(Vl53l5cx())
+    module.add_submodule(Vl53lmz())
+    module.depends(":architecture:spi.device")
+    module.depends(":architecture:i2c.device")
+    module.depends(":driver:i2c.eeprom")
+    return True
+
+def build(env):
+    env.outbasepath = "modm/src/modm/driver/vl53"
+    env.copy("vl53.hpp")
+    env.copy("vl53_transport.hpp")
+    env.copy("vl53_transport_impl.hpp")
+    env.copy("vl53_platform.h")