From d3187262099afa537fd28cde94ca1a6d0370eb63 Mon Sep 17 00:00:00 2001
From: Michal Piekos <michal.piekos@wp.pl>
Date: Thu, 26 Dec 2024 14:38:48 +0100
Subject: [PATCH] drivers: sensor: vl53l0x: Add private channels

Added private channels for metadata associated with
distance measurement according to datasheet and API manual.

Signed-off-by: Michal Piekos <michal.piekos@wp.pl>
---
 drivers/sensor/st/vl53l0x/vl53l0x.c     | 24 +++++++++++++
 include/zephyr/drivers/sensor/vl53l0x.h | 47 +++++++++++++++++++++++++
 2 files changed, 71 insertions(+)
 create mode 100644 include/zephyr/drivers/sensor/vl53l0x.h

diff --git a/drivers/sensor/st/vl53l0x/vl53l0x.c b/drivers/sensor/st/vl53l0x/vl53l0x.c
index 569288f0851..b43046250cd 100644
--- a/drivers/sensor/st/vl53l0x/vl53l0x.c
+++ b/drivers/sensor/st/vl53l0x/vl53l0x.c
@@ -20,12 +20,16 @@
 #include <zephyr/types.h>
 #include <zephyr/device.h>
 #include <zephyr/logging/log.h>
+#include <zephyr/drivers/sensor/vl53l0x.h>
 
 #include "vl53l0x_api.h"
 #include "vl53l0x_platform.h"
 
 LOG_MODULE_REGISTER(VL53L0X, CONFIG_SENSOR_LOG_LEVEL);
 
+#define VL53L0X_FIXPOINT1616_SCALE_FACTOR (65536)
+#define VL53L0X_SENSOR_CHANNEL_VAL2_FACTOR (1000000)
+
 /* All the values used in this driver are coming from ST datasheet and examples.
  * It can be found here:
  *   https://www.st.com/en/embedded-software/stsw-img005.html
@@ -288,6 +292,26 @@ static int vl53l0x_channel_get(const struct device *dev,
 	} else if (chan == SENSOR_CHAN_DISTANCE) {
 		val->val1 = drv_data->RangingMeasurementData.RangeMilliMeter / 1000;
 		val->val2 = (drv_data->RangingMeasurementData.RangeMilliMeter % 1000) * 1000;
+	} else if ((enum sensor_channel_vl53l0x)chan ==
+			SENSOR_CHAN_VL53L0X_EFFECTIVE_SPAD_RTN_COUNT) {
+		val->val1 = drv_data->RangingMeasurementData.EffectiveSpadRtnCount / 256;
+		val->val2 = 0;
+	} else if ((enum sensor_channel_vl53l0x)chan == SENSOR_CHAN_VL53L0X_AMBIENT_RATE_RTN_CPS) {
+		val->val1 = (drv_data->RangingMeasurementData.AmbientRateRtnMegaCps >> 16) +
+			(((drv_data->RangingMeasurementData.AmbientRateRtnMegaCps & 0xFFFF) *
+			  VL53L0X_SENSOR_CHANNEL_VAL2_FACTOR) / VL53L0X_FIXPOINT1616_SCALE_FACTOR);
+		val->val2 = 0;
+	} else if ((enum sensor_channel_vl53l0x)chan == SENSOR_CHAN_VL53L0X_SIGNAL_RATE_RTN_CPS) {
+		val->val1 = (drv_data->RangingMeasurementData.SignalRateRtnMegaCps >> 16) +
+			(((drv_data->RangingMeasurementData.SignalRateRtnMegaCps & 0xFFFF) *
+			  VL53L0X_SENSOR_CHANNEL_VAL2_FACTOR) / VL53L0X_FIXPOINT1616_SCALE_FACTOR);
+		val->val2 = 0;
+	} else if ((enum sensor_channel_vl53l0x)chan == SENSOR_CHAN_VL53L0X_RANGE_DMAX) {
+		val->val1 = drv_data->RangingMeasurementData.RangeDMaxMilliMeter / 1000;
+		val->val2 = (drv_data->RangingMeasurementData.RangeDMaxMilliMeter % 1000) * 1000;
+	} else if ((enum sensor_channel_vl53l0x)chan == SENSOR_CHAN_VL53L0X_RANGE_STATUS) {
+		val->val1 = drv_data->RangingMeasurementData.RangeStatus;
+		val->val2 = 0;
 	} else {
 		return -ENOTSUP;
 	}
diff --git a/include/zephyr/drivers/sensor/vl53l0x.h b/include/zephyr/drivers/sensor/vl53l0x.h
new file mode 100644
index 00000000000..98613f16f31
--- /dev/null
+++ b/include/zephyr/drivers/sensor/vl53l0x.h
@@ -0,0 +1,47 @@
+/*
+ * Copyright (c) 2024 Michal Piekos
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+/**
+ * @file
+ * @brief Custom channels and values for VL53L0X ToF Sensor
+ *
+ * These channels provide additional sensor data not covered by the standard
+ * Zephyr sensor channels. Application must include vl53l0x.h file to gain
+ * access to these channels.
+ *
+ * Example usage:
+ * @code{c}
+ * #include <zephyr/drivers/sensor/vl53l0x.h>
+ *
+ * if (sensor_channel_get(dev, SENSOR_CHAN_VL53L0X_RANGE_STATUS, &value)) {
+ *	printk("Status: %d\n", value.val1);
+ * }
+ * @endcode
+ */
+
+#ifndef ZEPHYR_INCLUDE_DRIVERS_SENSOR_VL53L0X_H_
+#define ZEPHYR_INCLUDE_DRIVERS_SENSOR_VL53L0X_H_
+
+#include <zephyr/drivers/sensor.h>
+
+/* VL53L0x specific channels */
+enum sensor_channel_vl53l0x {
+	SENSOR_CHAN_VL53L0X_RANGE_DMAX = SENSOR_CHAN_PRIV_START,
+	SENSOR_CHAN_VL53L0X_SIGNAL_RATE_RTN_CPS,
+	SENSOR_CHAN_VL53L0X_AMBIENT_RATE_RTN_CPS,
+	SENSOR_CHAN_VL53L0X_EFFECTIVE_SPAD_RTN_COUNT,
+	SENSOR_CHAN_VL53L0X_RANGE_STATUS,
+};
+
+/* VL53L0x meas status values */
+#define VL53L0X_RANGE_STATUS_RANGE_VALID    (0)
+#define VL53L0X_RANGE_STATUS_SIGMA_FAIL	    (1)
+#define VL53L0X_RANGE_STATUS_SIGNAL_FAIL    (2)
+#define VL53L0X_RANGE_STATUS_MIN_RANGE_FAIL (3)
+#define VL53L0X_RANGE_STATUS_PHASE_FAIL	    (4)
+#define VL53L0X_RANGE_STATUS_HARDWARE_FAIL  (5)
+#define VL53L0X_RANGE_STATUS_NO_UPDATE      (255)
+
+#endif /* ZEPHYR_INCLUDE_DRIVERS_SENSOR_VL53L0X_H_ */