drivers: sensor: add Garmin LIDAR-Lite v4 LED distance sensor driver

drivers/sensor/CMakeLists.txt

@@ -9,6 +9,7 @@ add_subdirectory(bosch)
 add_subdirectory(broadcom)
 add_subdirectory(espressif)
 add_subdirectory(everlight)
+add_subdirectory(grmn)
 add_subdirectory(honeywell)
 add_subdirectory(infineon)
 add_subdirectory(ite)

drivers/sensor/Kconfig

@@ -95,6 +95,7 @@ source "drivers/sensor/bosch/Kconfig"
 source "drivers/sensor/broadcom/Kconfig"
 source "drivers/sensor/espressif/Kconfig"
 source "drivers/sensor/everlight/Kconfig"
+source "drivers/sensor/grmn/Kconfig"
 source "drivers/sensor/honeywell/Kconfig"
 source "drivers/sensor/infineon/Kconfig"
 source "drivers/sensor/ite/Kconfig"

drivers/sensor/grmn/CMakeLists.txt

@@ -0,0 +1,6 @@
+# Copyright (c) 2025 Alex Aylward
+# SPDX-License-Identifier: Apache-2.0
+
+# zephyr-keep-sorted-start
+add_subdirectory_ifdef(CONFIG_LIDAR_LITE_V4 lidar_lite_v4)
+# zephyr-keep-sorted-stop

drivers/sensor/grmn/Kconfig

@@ -0,0 +1,6 @@
+# Copyright (c) 2025 Alex Aylward
+# SPDX-License-Identifier: Apache-2.0
+
+# zephyr-keep-sorted-start
+source "drivers/sensor/grmn/lidar_lite_v4/Kconfig"
+# zephyr-keep-sorted-stop

drivers/sensor/grmn/lidar_lite_v4/CMakeLists.txt

@@ -0,0 +1,5 @@
+# Copyright (c) 2025 Alex Aylward
+# SPDX-License-Identifier: Apache-2.0
+
+zephyr_library()
+zephyr_library_sources(lidar_lite_v4.c)

drivers/sensor/grmn/lidar_lite_v4/Kconfig

@@ -0,0 +1,10 @@
+# Copyright (c) 2025 Alex Aylward
+# SPDX-License-Identifier: Apache-2.0
+
+config LIDAR_LITE_V4
+	bool "Lidar Lite V4 support"
+	depends on DT_HAS_GRMN_LIDAR_LITE_V4_ENABLED
+	default y
+	select I2C
+	help
+	  Driver for Lidar Lite V4 I2C Operation.

drivers/sensor/grmn/lidar_lite_v4/lidar_lite_v4.c

@@ -0,0 +1,123 @@
+/*
+ * Copyright (c) 2025 Alex Aylward
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#define DT_DRV_COMPAT grmn_lidar_lite_v4
+
+#include <zephyr/device.h>
+#include <zephyr/drivers/i2c.h>
+#include <zephyr/drivers/sensor.h>
+#include <zephyr/kernel.h>
+#include <zephyr/sys/byteorder.h>
+#include <zephyr/sys/clock.h>
+#include <zephyr/sys/time_units.h>
+
+#define MAX_TIMEOUT_MS 100
+
+#define LIDAR_LITE_V4_REG_MEASURE       0x00
+#define LIDAR_LITE_V4_REG_STATUS        0x01
+#define LIDAR_LITE_V4_REG_DISTANCE_LOW  0x10
+
+#define LIDAR_LITE_V4_CMD_MEASURE 0x04
+#define LIDAR_LITE_V4_STATUS_BUSY BIT(0)
+
+struct lidar_lite_v4_config {
+	struct i2c_dt_spec i2c;
+};
+
+struct lidar_lite_v4_data {
+	uint16_t distance;
+};
+
+int lidar_lite_v4_init(const struct device *dev)
+{
+	const struct lidar_lite_v4_config *config = dev->config;
+
+	if (!i2c_is_ready_dt(&config->i2c)) {
+		return -ENODEV;
+	}
+
+	return 0;
+}
+
+static int lidar_lite_v4_sample_fetch(const struct device *dev, enum sensor_channel chan)
+{
+	struct lidar_lite_v4_data *data = dev->data;
+	const struct lidar_lite_v4_config *config = dev->config;
+	uint8_t status;
+	uint8_t distance_bytes[2];
+	int ret;
+
+	if (chan != SENSOR_CHAN_DISTANCE && chan != SENSOR_CHAN_ALL) {
+		return -ENOTSUP;
+	}
+
+	/* Write command to trigger measurement */
+	ret = i2c_reg_write_byte_dt(&config->i2c, LIDAR_LITE_V4_REG_MEASURE,
+				    LIDAR_LITE_V4_CMD_MEASURE);
+	if (ret < 0) {
+		return ret;
+	}
+
+	/* Read status register and wait until measurement completes (timeout based on elapsed time)
+	 */
+	k_timepoint_t timeout = sys_timepoint_calc(K_MSEC(MAX_TIMEOUT_MS));
+	while (1) {
+		ret = i2c_reg_read_byte_dt(&config->i2c, LIDAR_LITE_V4_REG_STATUS, &status);
+		if (ret < 0) {
+			return ret;
+		}
+
+		if ((status & LIDAR_LITE_V4_STATUS_BUSY) == 0) {
+			break;
+		}
+
+		if (sys_timepoint_expired(timeout)) {
+			return -ETIMEDOUT;
+		}
+
+		k_msleep(1);
+	}
+
+	/* Read distance data (low byte at 0x10, high byte at 0x11) */
+	ret = i2c_burst_read_dt(&config->i2c, LIDAR_LITE_V4_REG_DISTANCE_LOW, distance_bytes, 2);
+	if (ret < 0) {
+		return ret;
+	}
+
+	/* Combine low and high bytes (little-endian) to get 16-bit distance in centimeters */
+	data->distance = sys_get_le16(distance_bytes);
+
+	return 0;
+}
+
+static int lidar_lite_v4_channel_get(const struct device *dev, enum sensor_channel chan,
+				     struct sensor_value *val)
+{
+	struct lidar_lite_v4_data *data = dev->data;
+
+	switch (chan) {
+	case SENSOR_CHAN_DISTANCE:
+		return sensor_value_from_milli(val, (uint32_t)data->distance * 10);
+	default:
+		return -ENOTSUP;
+	}
+}
+
+static const struct sensor_driver_api lidar_lite_v4_driver_api = {
+	.sample_fetch = lidar_lite_v4_sample_fetch,
+	.channel_get = lidar_lite_v4_channel_get,
+};
+
+#define LIDAR_LITE_V4_DEFINE(inst)                                                                 \
+	static struct lidar_lite_v4_data lidar_lite_v4_data_##inst;                                \
+	static const struct lidar_lite_v4_config lidar_lite_v4_config_##inst = {                   \
+		.i2c = I2C_DT_SPEC_INST_GET(inst),                                                 \
+	};                                                                                         \
+	SENSOR_DEVICE_DT_INST_DEFINE(inst, lidar_lite_v4_init, NULL, &lidar_lite_v4_data_##inst,   \
+				     &lidar_lite_v4_config_##inst, POST_KERNEL,                    \
+				     CONFIG_SENSOR_INIT_PRIORITY, &lidar_lite_v4_driver_api);
+
+DT_INST_FOREACH_STATUS_OKAY(LIDAR_LITE_V4_DEFINE)

dts/bindings/sensor/grmn,lidar-lite-v4.yaml

@@ -0,0 +1,8 @@
+# Copyright (c) 2025 Alex Aylward
+# SPDX-License-Identifier: Apache-2.0
+
+description: Garmin LIDAR-Lite v4 laser rangefinder
+
+compatible: "grmn,lidar-lite-v4"
+
+include: [sensor-device.yaml, i2c-device.yaml]

tests/drivers/build_all/sensor/i2c.dtsi

@@ -1382,3 +1382,8 @@ test_i2c_lsm9ds1_mag: lsm9ds1_mag@b9 {
 	compatible = "st,lsm9ds1_mag";
 	reg = <0xb9>;
 };
+
+test_i2c_lidar_lite_v4: lidar_lite_v4@ba {
+	compatible = "grmn,lidar-lite-v4";
+	reg = <0xba>;
+};