diff --git a/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
new file mode 100644
index 000000000000..64b69442f08e
--- /dev/null
+++ b/Documentation/devicetree/bindings/iio/proximity/vl53l0x.txt
@@ -0,0 +1,12 @@
+ST's VL53L0X ToF ranging sensor
+
+Required properties:
+	- compatible: must be "st,vl53l0x-i2c"
+	- reg: i2c address where to find the device
+
+Example:
+
+vl53l0x@29 {
+	compatible = "st,vl53l0x-i2c";
+	reg = <0x29>;
+};
diff --git a/drivers/iio/proximity/Kconfig b/drivers/iio/proximity/Kconfig
index f726f9427602..1563a5f9144d 100644
--- a/drivers/iio/proximity/Kconfig
+++ b/drivers/iio/proximity/Kconfig
@@ -79,4 +79,17 @@ config SRF08
 	  To compile this driver as a module, choose M here: the
 	  module will be called srf08.
 
+config VL53L0X_I2C
+	tristate "STMicroelectronics VL53L0X ToF ranger sensor (I2C)"
+	select IIO_BUFFER
+	select IIO_TRIGGERED_BUFFER
+	depends on I2C
+	help
+	  Say Y here to build a driver for STMicroelectronics VL53L0X
+	  ToF ranger sensors with i2c interface.
+	  This driver can be used to measure the distance of objects.
+
+	  To compile this driver as a module, choose M here: the
+	  module will be called vl53l0x-i2c.
+
 endmenu
diff --git a/drivers/iio/proximity/Makefile b/drivers/iio/proximity/Makefile
index 4f4ed45e87ef..7cb771665c8b 100644
--- a/drivers/iio/proximity/Makefile
+++ b/drivers/iio/proximity/Makefile
@@ -10,3 +10,5 @@ obj-$(CONFIG_RFD77402)		+= rfd77402.o
 obj-$(CONFIG_SRF04)		+= srf04.o
 obj-$(CONFIG_SRF08)		+= srf08.o
 obj-$(CONFIG_SX9500)		+= sx9500.o
+obj-$(CONFIG_VL53L0X_I2C)		+= vl53l0x-i2c.o
+
diff --git a/drivers/iio/proximity/vl53l0x-i2c.c b/drivers/iio/proximity/vl53l0x-i2c.c
new file mode 100644
index 000000000000..c00713041d30
--- /dev/null
+++ b/drivers/iio/proximity/vl53l0x-i2c.c
@@ -0,0 +1,295 @@
+// SPDX-License-Identifier: GPL-2.0+
+/*
+ *  vl53l0x-i2c.c - Support for STM VL53L0X FlightSense TOF
+ *					Ranger Sensor on a i2c bus.
+ *
+ *  Copyright (C) 2016 STMicroelectronics Imaging Division.
+ *  Copyright (C) 2018 Song Qiang <songqiang.1304521@gmail.com>
+ *
+ */
+
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/i2c.h>
+#include <linux/delay.h>
+#include <linux/kernel.h>
+#include <linux/iio/iio.h>
+
+#define VL53L0X_DRV_NAME			"vl53l0x"
+
+/* Device register map */
+#define VL_REG_SYSRANGE_START					0x000
+#define VL_REG_SYSRANGE_MODE_MASK				0x0F
+#define VL_REG_SYSRANGE_MODE_START_STOP			0x01
+#define VL_REG_SYSRANGE_MODE_SINGLESHOT			0x00
+#define VL_REG_SYSRANGE_MODE_BACKTOBACK			0x02
+#define VL_REG_SYSRANGE_MODE_TIMED				0x04
+#define VL_REG_SYSRANGE_MODE_HISTOGRAM			0x08
+
+#define VL_REG_SYS_THRESH_HIGH					0x000C
+#define VL_REG_SYS_THRESH_LOW					0x000E
+
+#define VL_REG_SYS_SEQUENCE_CFG					0x0001
+#define VL_REG_SYS_RANGE_CFG					0x0009
+#define VL_REG_SYS_INTERMEASUREMENT_PERIOD		0x0004
+
+#define VL_REG_SYS_INT_CFG_GPIO					0x000A
+#define VL_REG_SYS_INT_GPIO_DISABLED			0x00
+#define VL_REG_SYS_INT_GPIO_LEVEL_LOW			0x01
+#define VL_REG_SYS_INT_GPIO_LEVEL_HIGH			0x02
+#define VL_REG_SYS_INT_GPIO_OUT_OF_WINDOW		0x03
+#define VL_REG_SYS_INT_GPIO_NEW_SAMPLE_READY	0x04
+#define VL_REG_GPIO_HV_MUX_ACTIVE_HIGH			0x0084
+#define VL_REG_SYS_INT_CLEAR					0x000B
+
+/* Result registers */
+#define VL_REG_RESULT_INT_STATUS				0x0013
+#define VL_REG_RESULT_RANGE_STATUS				0x0014
+
+#define VL_REG_RESULT_CORE_PAGE  1
+#define VL_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN	0x00BC
+#define VL_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN		0x00C0
+#define VL_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF	0x00D0
+#define VL_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF		0x00D4
+#define VL_REG_RESULT_PEAK_SIGNAL_RATE_REF				0x00B6
+
+/* Algo register */
+#define VL_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM		0x0028
+
+#define VL_REG_I2C_SLAVE_DEVICE_ADDRESS					0x008a
+
+/* Check Limit registers */
+#define VL_REG_MSRC_CFG_CONTROL						0x0060
+
+#define VL_REG_PRE_RANGE_CFG_MIN_SNR					0X0027
+#define VL_REG_PRE_RANGE_CFG_VALID_PHASE_LOW			0x0056
+#define VL_REG_PRE_RANGE_CFG_VALID_PHASE_HIGH			0x0057
+#define VL_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT		0x0064
+
+#define VL_REG_FINAL_RANGE_CFG_MIN_SNR					0X0067
+#define VL_REG_FINAL_RANGE_CFG_VALID_PHASE_LOW			0x0047
+#define VL_REG_FINAL_RANGE_CFG_VALID_PHASE_HIGH			0x0048
+#define VL_REG_FINAL_RANGE_CFG_MIN_COUNT_RATE_RTN_LIMIT	0x0044
+
+#define VL_REG_PRE_RANGE_CFG_SIGMA_THRESH_HI			0X0061
+#define VL_REG_PRE_RANGE_CFG_SIGMA_THRESH_LO			0X0062
+
+/* PRE RANGE registers */
+#define VL_REG_PRE_RANGE_CFG_VCSEL_PERIOD				0x0050
+#define VL_REG_PRE_RANGE_CFG_TIMEOUT_MACROP_HI			0x0051
+#define VL_REG_PRE_RANGE_CFG_TIMEOUT_MACROP_LO			0x0052
+
+#define VL_REG_SYS_HISTOGRAM_BIN					0x0081
+#define VL_REG_HISTOGRAM_CFG_INITIAL_PHASE_SELECT		0x0033
+#define VL_REG_HISTOGRAM_CFG_READOUT_CTRL				0x0055
+
+#define VL_REG_FINAL_RANGE_CFG_VCSEL_PERIOD				0x0070
+#define VL_REG_FINAL_RANGE_CFG_TIMEOUT_MACROP_HI		0x0071
+#define VL_REG_FINAL_RANGE_CFG_TIMEOUT_MACROP_LO		0x0072
+#define VL_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS	0x0020
+
+#define VL_REG_MSRC_CFG_TIMEOUT_MACROP					0x0046
+
+#define VL_REG_SOFT_RESET_GO2_SOFT_RESET_N				0x00bf
+#define VL_REG_IDENTIFICATION_MODEL_ID					0x00c0
+#define VL_REG_IDENTIFICATION_REVISION_ID				0x00c2
+
+#define VL_REG_OSC_CALIBRATE_VAL					0x00f8
+
+#define VL_SIGMA_ESTIMATE_MAX_VALUE					65535
+/* equivalent to a range sigma of 655.35mm */
+
+#define VL_REG_GLOBAL_CFG_VCSEL_WIDTH					0x032
+#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_0			0x0B0
+#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_1			0x0B1
+#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_2			0x0B2
+#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_3			0x0B3
+#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_4			0x0B4
+#define VL_REG_GLOBAL_CFG_SPAD_ENABLES_REF_5			0x0B5
+#define VL_REG_GLOBAL_CFG_REF_EN_START_SELECT			0xB6
+#define VL_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD		0x4E /* 0x14E */
+#define VL_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET			0x4F /* 0x14F */
+#define VL_REG_POWER_MANAGEMENT_GO1_POWER_FORCE			0x80
+
+/*
+ * Speed of light in um per 1E-10 Seconds
+ */
+#define VL_SPEED_OF_LIGHT_IN_AIR					2997
+#define VL_REG_VHV_CFG_PAD_SCL_SDA__EXTSUP_HV			0x0089
+#define VL_REG_ALGO_PHASECAL_LIM			0x0030 /* 0x130 */
+#define VL_REG_ALGO_PHASECAL_CFG_TIMEOUT				0x0030
+
+struct vl53l0x_data {
+	struct i2c_client *client;
+	struct mutex lock;
+	int	useLongRange;
+};
+
+static int vl53l0x_read_proximity(struct vl53l0x_data *data,
+				const struct iio_chan_spec *chan,
+				int *val)
+{
+	int ret;
+	struct i2c_client *client = data->client;
+	int tries = 20;
+	u8 buffer[12];
+	struct i2c_msg msg[2];
+	u8 write_command = VL_REG_RESULT_RANGE_STATUS;
+
+	ret = i2c_smbus_write_byte_data(data->client,
+					VL_REG_SYSRANGE_START, 1);
+	if (ret < 0)
+		return ret;
+
+	while (tries-- > 0) {
+		ret = i2c_smbus_read_byte_data(data->client,
+						VL_REG_RESULT_RANGE_STATUS);
+		if (ret < 0)
+			return ret;
+
+		if (ret & 0x01)
+			break;
+		usleep_range(1000, 5000);
+	}
+
+	if (tries < 0)
+		return -ETIMEDOUT;
+
+	msg[0].addr = client->addr;
+	msg[0].buf = &write_command;
+	msg[0].len = 1;
+	msg[0].flags = client->flags | I2C_M_STOP;
+
+	msg[1].addr = client->addr;
+	msg[1].buf = buffer;
+	msg[1].len = 12;
+	msg[1].flags = client->flags | I2C_M_RD;
+
+	ret = i2c_transfer(client->adapter, msg, 2);
+
+	if (ret != 2) {
+		pr_err("vl53l0x: consecutively read error. ");
+		return ret;
+	}
+
+	*val = __le16_to_cpu((buffer[10] << 8) + buffer[11]);
+
+	return 0;
+}
+
+static const struct iio_chan_spec vl53l0x_channels[] = {
+	{
+		.type = IIO_DISTANCE,
+		.info_mask_separate = BIT(IIO_CHAN_INFO_RAW)
+	},
+	IIO_CHAN_SOFT_TIMESTAMP(1),
+};
+
+static int vl53l0x_read_raw(struct iio_dev *indio_dev,
+				const struct iio_chan_spec *chan,
+				int *val, int *val2, long mask)
+{
+	struct vl53l0x_data *data = iio_priv(indio_dev);
+	int ret;
+
+	if (chan->type != IIO_DISTANCE) {
+		pr_err("vl53l0x: iio type error");
+		return -EINVAL;
+	}
+
+	switch (mask) {
+	case IIO_CHAN_INFO_RAW:
+		ret = iio_device_claim_direct_mode(indio_dev);
+		if (ret)
+			return ret;
+		ret = vl53l0x_read_proximity(data, chan, val);
+		if (ret < 0)
+			pr_err("vl53l0x: raw value read error with %d", ret);
+
+		ret = IIO_VAL_INT;
+		iio_device_release_direct_mode(indio_dev);
+		return ret;
+	default:
+		pr_err("vl53l0x: IIO_CHAN_* not recognzed.");
+		return -EINVAL;
+	}
+}
+
+static const struct iio_info vl53l0x_info = {
+	.read_raw = vl53l0x_read_raw,
+};
+
+static int vl53l0x_probe(struct i2c_client *client,
+				   const struct i2c_device_id *id)
+{
+	int ret;
+	struct vl53l0x_data *data;
+	struct iio_dev *indio_dev;
+
+	indio_dev = devm_iio_device_alloc(&client->dev, sizeof(*data));
+	if (!indio_dev)
+		return -ENOMEM;
+
+	data = iio_priv(indio_dev);
+	data->client = client;
+	i2c_set_clientdata(client, indio_dev);
+	mutex_init(&data->lock);
+
+	if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_BYTE))
+		return -EOPNOTSUPP;
+
+	indio_dev->dev.parent = &client->dev;
+	indio_dev->name = VL53L0X_DRV_NAME;
+	indio_dev->info = &vl53l0x_info;
+	indio_dev->channels = vl53l0x_channels;
+	indio_dev->num_channels = ARRAY_SIZE(vl53l0x_channels);
+	indio_dev->modes = INDIO_DIRECT_MODE;
+
+	//probe 0xc0 if the value is 0xEE.
+
+	ret = iio_device_register(indio_dev);
+	if (ret)
+		return ret;
+
+	dev_set_drvdata(&client->dev, data);
+
+	return 0;
+}
+
+static int vl53l0x_remove(struct i2c_client *client)
+{
+	struct iio_dev *indio_dev = i2c_get_clientdata(client);
+	struct vl53l0x_data *data = iio_priv(indio_dev);
+
+	iio_device_unregister(indio_dev);
+	kfree(data);
+
+	return 0;
+}
+
+static const struct i2c_device_id vl53l0x_id[] = {
+	{ VL53L0X_DRV_NAME, 0 },
+	{ },
+};
+MODULE_DEVICE_TABLE(i2c, vl53l0x_id);
+
+static const struct of_device_id st_vl53l0x_dt_match[] = {
+	{ .compatible = "st,vl53l0x-i2c", },
+	{ },
+};
+
+static struct i2c_driver vl53l0x_driver = {
+	.driver = {
+		.name	= VL53L0X_DRV_NAME,
+		.owner	= THIS_MODULE,
+		.of_match_table = st_vl53l0x_dt_match,
+	},
+	.probe	= vl53l0x_probe,
+	.remove	= vl53l0x_remove,
+	.id_table = vl53l0x_id,
+};
+module_i2c_driver(vl53l0x_driver);
+
+MODULE_AUTHOR("Song Qiang <songqiang.1304521@gmail.com>");
+MODULE_DESCRIPTION("ST vl53l0x ToF ranging sensor");
+MODULE_LICENSE("GPL");
