diff --git a/boards/bitcraze/crazyflie/default.cmake b/boards/bitcraze/crazyflie/default.cmake index 93d73ad0aa..32b96f4782 100644 --- a/boards/bitcraze/crazyflie/default.cmake +++ b/boards/bitcraze/crazyflie/default.cmake @@ -8,7 +8,7 @@ px4_add_board( ROMFSROOT px4fmu_common DRIVERS barometer/lps25h - distance_sensor/vl53lxx + distance_sensor/vl53l0x gps imu/mpu9250 optical_flow/pmw3901 diff --git a/boards/bitcraze/crazyflie/init/rc.board_sensors b/boards/bitcraze/crazyflie/init/rc.board_sensors index 287c217a66..4bff8b20d5 100644 --- a/boards/bitcraze/crazyflie/init/rc.board_sensors +++ b/boards/bitcraze/crazyflie/init/rc.board_sensors @@ -12,4 +12,4 @@ mpu9250 -I -R 12 start lps25h -I start # Optical flow deck -vl53lxx start -X +vl53l0x start -X diff --git a/src/drivers/distance_sensor/CMakeLists.txt b/src/drivers/distance_sensor/CMakeLists.txt index bb6607272c..53abcb5cd8 100644 --- a/src/drivers/distance_sensor/CMakeLists.txt +++ b/src/drivers/distance_sensor/CMakeLists.txt @@ -44,4 +44,4 @@ add_subdirectory(srf02) add_subdirectory(teraranger) add_subdirectory(tfmini) add_subdirectory(ulanding_radar) -add_subdirectory(vl53lxx) +add_subdirectory(vl53l0x) diff --git a/src/drivers/distance_sensor/vl53lxx/CMakeLists.txt b/src/drivers/distance_sensor/vl53l0x/CMakeLists.txt similarity index 92% rename from src/drivers/distance_sensor/vl53lxx/CMakeLists.txt rename to src/drivers/distance_sensor/vl53l0x/CMakeLists.txt index 76edd9a69c..c75562460f 100644 --- a/src/drivers/distance_sensor/vl53lxx/CMakeLists.txt +++ b/src/drivers/distance_sensor/vl53l0x/CMakeLists.txt @@ -32,10 +32,12 @@ ############################################################################ px4_add_module( - MODULE drivers__vl53lxx - MAIN vl53lxx - COMPILE_FLAGS - -Wno-cast-align # TODO: fix and enable + MODULE drivers__distance_sensor__vl53l0x + MAIN vl53l0x SRCS - vl53lxx.cpp + VL53L0X.cpp + VL53L0X.hpp + DEPENDS + drivers_rangefinder + px4_work_queue ) diff --git a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp b/src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp similarity index 62% rename from src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp rename to src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp index af79a65a43..f70743fbfa 100644 --- a/src/drivers/distance_sensor/vl53lxx/vl53lxx.cpp +++ b/src/drivers/distance_sensor/vl53l0x/VL53L0X.cpp @@ -31,32 +31,9 @@ * ****************************************************************************/ -/** - * @file vl53lxx.cpp - * @author Daniele Pettenuzzo - * - * Driver for the vl53lxx ToF Sensor from ST Microelectronics connected via I2C. - */ +#include "VL53L0X.hpp" -#include -#include - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -/* Configuration Constants */ -#define VL53LXX_BASEADDR 0x29 -#define VL53LXX_DEVICE_PATH "/dev/vl53lxx" - -/* VL53LXX Registers addresses */ +/* VL53L0X Registers addresses */ #define VHV_CONFIG_PAD_SCL_SDA_EXTSUP_HW_REG 0x89 #define MSRC_CONFIG_CONTROL_REG 0x60 #define FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT_REG 0x44 @@ -74,206 +51,62 @@ #define GPIO_HV_MUX_ACTIVE_HIGH_REG 0x84 #define SYSTEM_INTERRUPT_CLEAR_REG 0x0B #define RESULT_RANGE_STATUS_REG 0x14 -#define VL53LXX_RA_IDENTIFICATION_MODEL_ID 0xC0 -#define VL53LXX_IDENTIFICATION_MODEL_ID 0xEEAA +#define VL53L0X_RA_IDENTIFICATION_MODEL_ID 0xC0 +#define VL53L0X_IDENTIFICATION_MODEL_ID 0xEEAA -#define VL53LXX_US 1000 // 1ms -#define VL53LXX_SAMPLE_RATE 50000 // 50ms +#define VL53L0X_US 1000 // 1ms +#define VL53L0X_SAMPLE_RATE 50000 // 50ms -#define VL53LXX_MAX_RANGING_DISTANCE 2.0f -#define VL53LXX_MIN_RANGING_DISTANCE 0.0f +#define VL53L0X_BUS_CLOCK 400000 // 400kHz bus clock speed -#define VL53LXX_BUS_CLOCK 400000 // 400kHz bus clock speed - -class VL53LXX : public device::I2C, public I2CSPIDriver -{ -public: - VL53LXX(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, - int address = VL53LXX_BASEADDR); - - virtual ~VL53LXX(); - - static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - int runtime_instance); - static void print_usage(); - - virtual int init() override; - - /** - * Diagnostics - print some basic information about the driver. - */ - void print_status() override; - - virtual ssize_t read(device::file_t *file_pointer, char *buffer, size_t buflen); - - /** - * Initialise the automatic measurement state machine and start it. - */ - void start(); - - /** - * Perform a poll cycle; collect from the previous measurement - * and start a new one. - */ - void RunImpl(); - -protected: - virtual int probe() override; - -private: - - /** - * Collects the most recent sensor measurement data from the i2c bus. - */ - int collect(); - - /** - * Sends an i2c measure command to the sensor. - */ - int measure(); - - int readRegister(const uint8_t reg_address, uint8_t &value); - int readRegisterMulti(const uint8_t reg_address, uint8_t *value, const uint8_t length); - - int writeRegister(const uint8_t reg_address, const uint8_t value); - int writeRegisterMulti(const uint8_t reg_address, const uint8_t *value, const uint8_t length); - - int sensorInit(); - int sensorTuning(); - int singleRefCalibration(const uint8_t byte); - int spadCalculations(); - - bool _collect_phase{false}; - bool _measurement_started{false}; - bool _new_measurement{true}; - - int _class_instance{-1}; - int _measure_interval{VL53LXX_SAMPLE_RATE}; - int _orb_class_instance{-1}; - - uint8_t _rotation{0}; - uint8_t _stop_variable{0}; - - orb_advert_t _distance_sensor_topic{nullptr}; - - perf_counter_t _comms_errors{perf_alloc(PC_COUNT, "vl53lxx_com_err")}; - perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, "vl53lxx_read")}; - - ringbuffer::RingBuffer *_reports{nullptr}; -}; - - -VL53LXX::VL53LXX(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) : - I2C("VL53LXX", VL53LXX_DEVICE_PATH, bus, address, bus_frequency), +VL53L0X::VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, int address) : + I2C("VL53L0X", nullptr, bus, address, bus_frequency), I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), - _rotation(rotation) + _px4_rangefinder(0 /* device id not yet used */, ORB_PRIO_DEFAULT, rotation) { + // VL53L0X typical range 0-2 meters with 25 degree field of view + _px4_rangefinder.set_min_distance(0.f); + _px4_rangefinder.set_max_distance(2.f); + _px4_rangefinder.set_fov(math::radians(25.f)); + // Allow 3 retries as the device typically misses the first measure attempts. I2C::_retries = 3; } -VL53LXX::~VL53LXX() +VL53L0X::~VL53L0X() { - // Free any existing reports. - if (_reports != nullptr) { - delete _reports; - } - - if (_class_instance != -1) { - unregister_class_devname(RANGE_FINDER_BASE_DEVICE_PATH, _class_instance); - } - - // Unadvertise uORB topics. - if (_distance_sensor_topic != nullptr) { - orb_unadvertise(_distance_sensor_topic); - } - // free perf counters perf_free(_sample_perf); perf_free(_comms_errors); } -int -VL53LXX::collect() +int VL53L0X::collect() { // Read from the sensor. - uint8_t val[2] = {}; + uint8_t val[2] {}; perf_begin(_sample_perf); _collect_phase = false; - int ret = transfer(nullptr, 0, &val[0], 2); + const hrt_abstime timestamp_sample = hrt_absolute_time(); - if (ret != PX4_OK) { - DEVICE_LOG("error reading from sensor: %d", ret); + if (transfer(nullptr, 0, &val[0], 2) != PX4_OK) { perf_count(_comms_errors); perf_end(_sample_perf); - return ret; + return PX4_ERROR; } + perf_end(_sample_perf); + uint16_t distance_mm = (val[0] << 8) | val[1]; float distance_m = distance_mm / 1000.f; - struct distance_sensor_s report; - report.timestamp = hrt_absolute_time(); - report.current_distance = distance_m; - report.id = 0; // TODO: set propoer ID - report.max_distance = VL53LXX_MAX_RANGING_DISTANCE; - report.min_distance = VL53LXX_MIN_RANGING_DISTANCE; - report.orientation = _rotation; - report.signal_quality = -1; - report.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER; - report.variance = 0.0f; - - // Publish the report data if we have a valid topic. - if (_class_instance == CLASS_DEVICE_PRIMARY) { - orb_publish_auto(ORB_ID(distance_sensor), &_distance_sensor_topic, &report, - &_orb_class_instance, ORB_PRIO_DEFAULT); - } - - _reports->force(&report); - - // Notify anyone waiting for data. - poll_notify(POLLIN); - perf_end(_sample_perf); + _px4_rangefinder.update(timestamp_sample, distance_m); return PX4_OK; } -int -VL53LXX::init() -{ - set_device_address(VL53LXX_BASEADDR); - - // Initialize I2C (and probe) first. - if (I2C::init() != OK) { - return PX4_ERROR; - } - - /* allocate basic report buffers */ - _reports = new ringbuffer::RingBuffer(2, sizeof(distance_sensor_s)); - - if (_reports == nullptr) { - return PX4_ERROR; - } - - _class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH); - - // Get a publish handle on the obstacle distance topic. - distance_sensor_s report {}; - _distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &report, - &_orb_class_instance, ORB_PRIO_DEFAULT); - - if (_distance_sensor_topic == nullptr) { - PX4_ERR("failed to create distance_sensor object"); - return PX4_ERROR; - } - - return PX4_OK; -} - -int -VL53LXX::measure() +int VL53L0X::measure() { uint8_t wait_for_measurement = 0; uint8_t system_start = 0; @@ -298,13 +131,12 @@ VL53LXX::measure() readRegister(SYSRANGE_START_REG, system_start); if ((system_start & 0x01) == 1) { - ScheduleDelayed(VL53LXX_US); + ScheduleDelayed(VL53L0X_US); return PX4_OK; } else { _measurement_started = true; } - } if (!_collect_phase && !_measurement_started) { @@ -312,7 +144,7 @@ VL53LXX::measure() readRegister(SYSRANGE_START_REG, system_start); if ((system_start & 0x01) == 1) { - ScheduleDelayed(VL53LXX_US); + ScheduleDelayed(VL53L0X_US); return PX4_OK; } else { @@ -323,7 +155,7 @@ VL53LXX::measure() readRegister(RESULT_INTERRUPT_STATUS_REG, wait_for_measurement); if ((wait_for_measurement & 0x07) == 0) { - ScheduleDelayed(VL53LXX_US); // reschedule every 1 ms until measurement is ready + ScheduleDelayed(VL53L0X_US); // reschedule every 1 ms until measurement is ready return PX4_OK; } @@ -340,18 +172,15 @@ VL53LXX::measure() return PX4_OK; } -void -VL53LXX::print_status() +void VL53L0X::print_status() { I2CSPIDriverBase::print_status(); perf_print_counter(_comms_errors); perf_print_counter(_sample_perf); - PX4_INFO("measure interval: %u msec", _measure_interval / 1000); - _reports->print_info("report queue"); + _px4_rangefinder.print_status(); } -int -VL53LXX::probe() +int VL53L0X::probe() { if (sensorInit() == PX4_OK) { return PX4_OK; @@ -361,65 +190,7 @@ VL53LXX::probe() return -EIO; } -ssize_t -VL53LXX::read(device::file_t *file_pointer, char *buffer, size_t buffer_length) -{ - size_t buffer_size = 0; - unsigned int count = buffer_length / sizeof(struct distance_sensor_s); - struct distance_sensor_s *read_buffer = reinterpret_cast(buffer); - - // Buffer must be large enough. - if (count < 1) { - return -ENOSPC; - } - - // If automatic measurement is enabled. - if (_measure_interval > 0) { - - /* - * While there is space in the caller's buffer, and reports, copy them. - * Note that we may be pre-empted by the workq thread while we are doing this; - * we are careful to avoid racing with them. - */ - while (count--) { - if (_reports->get(read_buffer)) { - buffer_size += sizeof(*read_buffer); - read_buffer++; - } - } - - // If there was no data, warn the caller. - if (buffer_size == 0) { - return -EAGAIN; - } - } - - // Flush the report ring buffer. - _reports->flush(); - - // Trigger a measurement. - if (measure() != PX4_OK) { - return -EIO; - } - - // Wait for the measurement to complete. - usleep(_measure_interval); - - // Run the collection phase. - if (collect() != PX4_OK) { - return -EIO; - } - - // State machine will have generated a report, copy it out. - if (_reports->get(read_buffer)) { - buffer_size = sizeof(*read_buffer); - } - - return buffer_size; -} - -int -VL53LXX::readRegister(const uint8_t reg_address, uint8_t &value) +int VL53L0X::readRegister(const uint8_t reg_address, uint8_t &value) { // Write register address to the sensor. int ret = transfer(®_address, sizeof(reg_address), nullptr, 0); @@ -440,9 +211,7 @@ VL53LXX::readRegister(const uint8_t reg_address, uint8_t &value) return PX4_OK; } - -int -VL53LXX::readRegisterMulti(const uint8_t reg_address, uint8_t *value, const uint8_t length) +int VL53L0X::readRegisterMulti(const uint8_t reg_address, uint8_t *value, const uint8_t length) { // Write register address to the sensor. int ret = transfer(®_address, 1, nullptr, 0); @@ -463,8 +232,7 @@ VL53LXX::readRegisterMulti(const uint8_t reg_address, uint8_t *value, const uint return PX4_OK; } -void -VL53LXX::RunImpl() +void VL53L0X::RunImpl() { measure(); @@ -475,12 +243,11 @@ VL53LXX::RunImpl() collect(); - ScheduleDelayed(_measure_interval); + ScheduleDelayed(VL53L0X_SAMPLE_RATE); } } -int -VL53LXX::spadCalculations() +int VL53L0X::spadCalculations() { uint8_t val = 0; uint8_t spad_count = 0; @@ -568,8 +335,7 @@ VL53LXX::spadCalculations() return OK; } -int -VL53LXX::sensorInit() +int VL53L0X::sensorInit() { uint8_t val = 0; @@ -618,8 +384,7 @@ VL53LXX::sensorInit() return PX4_OK; } -int -VL53LXX::sensorTuning() +int VL53L0X::sensorTuning() { // Magic register settings taken from the ST Micro API. writeRegister(0xFF, 0x01); @@ -706,8 +471,7 @@ VL53LXX::sensorTuning() return PX4_OK; } -int -VL53LXX::singleRefCalibration(const uint8_t byte) +int VL53L0X::singleRefCalibration(const uint8_t byte) { uint8_t val = 0; @@ -724,23 +488,15 @@ VL53LXX::singleRefCalibration(const uint8_t byte) return PX4_OK; } -void -VL53LXX::start() +void VL53L0X::start() { - // Flush the report ring buffer. - _reports->flush(); - // Schedule the first cycle. ScheduleNow(); } -int -VL53LXX::writeRegister(const uint8_t reg_address, const uint8_t value) +int VL53L0X::writeRegister(const uint8_t reg_address, const uint8_t value) { - uint8_t cmd[2] = {}; - cmd[0] = reg_address; - cmd[1] = value; - + uint8_t cmd[2] {reg_address, value}; int ret = transfer(&cmd[0], 2, nullptr, 0); if (ret != PX4_OK) { @@ -751,18 +507,15 @@ VL53LXX::writeRegister(const uint8_t reg_address, const uint8_t value) return PX4_OK; } - -int -VL53LXX::writeRegisterMulti(const uint8_t reg_address, const uint8_t *value, - const uint8_t length) /* bytes are send in order as they are in the array */ +int VL53L0X::writeRegisterMulti(const uint8_t reg_address, const uint8_t *value, const uint8_t length) { if (length > 6 || length < 1) { - DEVICE_LOG("VL53LXX::writeRegisterMulti length out of range"); + DEVICE_LOG("VL53L0X::writeRegisterMulti length out of range"); return PX4_ERROR; } /* be careful: for uint16_t to send first higher byte */ - uint8_t cmd[7] = {}; + uint8_t cmd[7] {}; cmd[0] = reg_address; memcpy(&cmd[1], &value[0], length); @@ -777,10 +530,9 @@ VL53LXX::writeRegisterMulti(const uint8_t reg_address, const uint8_t *value, return PX4_OK; } -void -VL53LXX::print_usage() +void VL53L0X::print_usage() { - PRINT_MODULE_USAGE_NAME("vl53lxx", "driver"); + PRINT_MODULE_USAGE_NAME("vl53l0x", "driver"); PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor"); PRINT_MODULE_USAGE_COMMAND("start"); PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false); @@ -788,10 +540,10 @@ VL53LXX::print_usage() PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); } -I2CSPIDriverBase *VL53LXX::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, +I2CSPIDriverBase *VL53L0X::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, int runtime_instance) { - VL53LXX *instance = new VL53LXX(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency); + VL53L0X *instance = new VL53L0X(iterator.configuredBusOption(), iterator.bus(), cli.orientation, cli.bus_frequency); if (instance == nullptr) { PX4_ERR("alloc failed"); @@ -807,14 +559,10 @@ I2CSPIDriverBase *VL53LXX::instantiate(const BusCLIArguments &cli, const BusInst return instance; } - -/** - * Driver 'main' command. - */ -extern "C" __EXPORT int vl53lxx_main(int argc, char *argv[]) +extern "C" __EXPORT int vl53l0x_main(int argc, char *argv[]) { int ch; - using ThisDriver = VL53LXX; + using ThisDriver = VL53L0X; BusCLIArguments cli{true, false}; cli.default_i2c_frequency = 400000; cli.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING; @@ -834,7 +582,7 @@ extern "C" __EXPORT int vl53lxx_main(int argc, char *argv[]) return -1; } - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_VL53LXX); + BusInstanceIterator iterator(MODULE_NAME, cli, DRV_DIST_DEVTYPE_VL53L0X); if (!strcmp(verb, "start")) { return ThisDriver::module_start(cli, iterator); diff --git a/src/drivers/distance_sensor/vl53l0x/VL53L0X.hpp b/src/drivers/distance_sensor/vl53l0x/VL53L0X.hpp new file mode 100644 index 0000000000..c07917d9a0 --- /dev/null +++ b/src/drivers/distance_sensor/vl53l0x/VL53L0X.hpp @@ -0,0 +1,116 @@ +/**************************************************************************** + * + * Copyright (c) 2018-2020 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file VL53L0X.hpp + * + * Driver for the ST VL53L0X ToF Sensor connected via I2C. + */ + +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +/* Configuration Constants */ +#define VL53L0X_BASEADDR 0x29 + +class VL53L0X : public device::I2C, public I2CSPIDriver +{ +public: + VL53L0X(I2CSPIBusOption bus_option, const int bus, const uint8_t rotation, int bus_frequency, + int address = VL53L0X_BASEADDR); + + ~VL53L0X() override; + + static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, + int runtime_instance); + static void print_usage(); + + /** + * Diagnostics - print some basic information about the driver. + */ + void print_status() override; + + /** + * Initialise the automatic measurement state machine and start it. + */ + void start(); + + /** + * Perform a poll cycle; collect from the previous measurement + * and start a new one. + */ + void RunImpl(); + +private: + int probe() override; + + /** + * Collects the most recent sensor measurement data from the i2c bus. + */ + int collect(); + + /** + * Sends an i2c measure command to the sensor. + */ + int measure(); + + int readRegister(const uint8_t reg_address, uint8_t &value); + int readRegisterMulti(const uint8_t reg_address, uint8_t *value, const uint8_t length); + + int writeRegister(const uint8_t reg_address, const uint8_t value); + int writeRegisterMulti(const uint8_t reg_address, const uint8_t *value, const uint8_t length); + + int sensorInit(); + int sensorTuning(); + int singleRefCalibration(const uint8_t byte); + int spadCalculations(); + + PX4Rangefinder _px4_rangefinder; + + bool _collect_phase{false}; + bool _measurement_started{false}; + bool _new_measurement{true}; + + uint8_t _stop_variable{0}; + + perf_counter_t _comms_errors{perf_alloc(PC_COUNT, MODULE_NAME": com_err")}; + perf_counter_t _sample_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": read")}; +}; diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index 0814f184e2..03921f5656 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -137,7 +137,7 @@ #define DRV_DIST_DEVTYPE_SF1XX 0x73 #define DRV_DIST_DEVTYPE_SRF02 0x74 #define DRV_DIST_DEVTYPE_TERARANGER 0x75 -#define DRV_DIST_DEVTYPE_VL53LXX 0x76 +#define DRV_DIST_DEVTYPE_VL53L0X 0x76 #define DRV_POWER_DEVTYPE_INA226 0x77 #define DRV_POWER_DEVTYPE_VOXLPM 0x78 #define DRV_LED_DEVTYPE_BLINKM 0x79