File content as of revision 11:ff6857189608:

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#ifndef __VL53L0X_CLASS_H
#define __VL53L0X_CLASS_H


#ifdef _MSC_VER
#   ifdef VL53L0X_API_EXPORTS
#       define VL53L0X_API  __declspec(dllexport)
#   else
#       define VL53L0X_API
#   endif
#else
#   define VL53L0X_API
#endif


/* Includes ------------------------------------------------------------------*/
#include "mbed.h"
#include "RangeSensor.h"
#include "DevI2C.h" 

#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#include "stmpe1600_class.h"


/**
 * The device model ID
 */
#define IDENTIFICATION_MODEL_ID                 0x000
 

#define STATUS_OK              0x00
#define STATUS_FAIL            0x01


#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)

#ifdef USE_EMPTY_STRING
	#define  VL53L0X_STRING_DEVICE_INFO_NAME                             ""
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_TS0                         ""
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_TS1                         ""
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_TS2                         ""
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_ES1                         ""
	#define  VL53L0X_STRING_DEVICE_INFO_TYPE                             ""

	/* PAL ERROR strings */
	#define  VL53L0X_STRING_ERROR_NONE                                   ""
	#define  VL53L0X_STRING_ERROR_CALIBRATION_WARNING                    ""
	#define  VL53L0X_STRING_ERROR_MIN_CLIPPED                            ""
	#define  VL53L0X_STRING_ERROR_UNDEFINED                              ""
	#define  VL53L0X_STRING_ERROR_INVALID_PARAMS                         ""
	#define  VL53L0X_STRING_ERROR_NOT_SUPPORTED                          ""
	#define  VL53L0X_STRING_ERROR_RANGE_ERROR                            ""
	#define  VL53L0X_STRING_ERROR_TIME_OUT                               ""
	#define  VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED                     ""
	#define  VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL                       ""
	#define  VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING                      ""
	#define  VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED       ""
	#define  VL53L0X_STRING_ERROR_CONTROL_INTERFACE                      ""
	#define  VL53L0X_STRING_ERROR_INVALID_COMMAND                        ""
	#define  VL53L0X_STRING_ERROR_DIVISION_BY_ZERO                       ""
	#define  VL53L0X_STRING_ERROR_REF_SPAD_INIT                          ""
	#define  VL53L0X_STRING_ERROR_NOT_IMPLEMENTED                        ""

	#define  VL53L0X_STRING_UNKNOW_ERROR_CODE                            ""



	/* Range Status */
	#define  VL53L0X_STRING_RANGESTATUS_NONE                             ""
	#define  VL53L0X_STRING_RANGESTATUS_RANGEVALID                       ""
	#define  VL53L0X_STRING_RANGESTATUS_SIGMA                            ""
	#define  VL53L0X_STRING_RANGESTATUS_SIGNAL                           ""
	#define  VL53L0X_STRING_RANGESTATUS_MINRANGE                         ""
	#define  VL53L0X_STRING_RANGESTATUS_PHASE                            ""
	#define  VL53L0X_STRING_RANGESTATUS_HW                               ""


	/* Range Status */
	#define  VL53L0X_STRING_STATE_POWERDOWN                              ""
	#define  VL53L0X_STRING_STATE_WAIT_STATICINIT                        ""
	#define  VL53L0X_STRING_STATE_STANDBY                                ""
	#define  VL53L0X_STRING_STATE_IDLE                                   ""
	#define  VL53L0X_STRING_STATE_RUNNING                                ""
	#define  VL53L0X_STRING_STATE_UNKNOWN                                ""
	#define  VL53L0X_STRING_STATE_ERROR                                  ""


	/* Device Specific */
	#define  VL53L0X_STRING_DEVICEERROR_NONE                             ""
	#define  VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE       ""
	#define  VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE         ""
	#define  VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND                  ""
	#define  VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET                     ""
	#define  VL53L0X_STRING_DEVICEERROR_SNRCHECK                         ""
	#define  VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK                  ""
	#define  VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK              ""
	#define  VL53L0X_STRING_DEVICEERROR_TCC                              ""
	#define  VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY                 ""
	#define  VL53L0X_STRING_DEVICEERROR_MINCLIP                          ""
	#define  VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE                    ""
	#define  VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW                    ""
	#define  VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW                     ""
	#define  VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD             ""
	#define  VL53L0X_STRING_DEVICEERROR_UNKNOWN                          ""

	/* Check Enable */
	#define  VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE                ""
	#define  VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE          ""
	#define  VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP                  ""
	#define  VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD           ""

	/* Sequence Step */
	#define  VL53L0X_STRING_SEQUENCESTEP_TCC                             ""
	#define  VL53L0X_STRING_SEQUENCESTEP_DSS                             ""
	#define  VL53L0X_STRING_SEQUENCESTEP_MSRC                            ""
	#define  VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE                       ""
	#define  VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE                     ""
#else
	#define  VL53L0X_STRING_DEVICE_INFO_NAME          "VL53L0X cut1.0"
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_TS0      "VL53L0X TS0"
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_TS1      "VL53L0X TS1"
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_TS2      "VL53L0X TS2"
	#define  VL53L0X_STRING_DEVICE_INFO_NAME_ES1      "VL53L0X ES1 or later"
	#define  VL53L0X_STRING_DEVICE_INFO_TYPE          "VL53L0X"

	/* PAL ERROR strings */
	#define  VL53L0X_STRING_ERROR_NONE \
			"No Error"
	#define  VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
			"Calibration Warning Error"
	#define  VL53L0X_STRING_ERROR_MIN_CLIPPED \
			"Min clipped error"
	#define  VL53L0X_STRING_ERROR_UNDEFINED \
			"Undefined error"
	#define  VL53L0X_STRING_ERROR_INVALID_PARAMS \
			"Invalid parameters error"
	#define  VL53L0X_STRING_ERROR_NOT_SUPPORTED \
			"Not supported error"
	#define  VL53L0X_STRING_ERROR_RANGE_ERROR \
			"Range error"
	#define  VL53L0X_STRING_ERROR_TIME_OUT \
			"Time out error"
	#define  VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
			"Mode not supported error"
	#define  VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
			"Buffer too small"
	#define  VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
			"GPIO not existing"
	#define  VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
			"GPIO funct not supported"
	#define  VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
			"Interrupt not Cleared"
	#define  VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
			"Control Interface Error"
	#define  VL53L0X_STRING_ERROR_INVALID_COMMAND \
			"Invalid Command Error"
	#define  VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
			"Division by zero Error"
	#define  VL53L0X_STRING_ERROR_REF_SPAD_INIT \
			"Reference Spad Init Error"
	#define  VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
			"Not implemented error"

	#define  VL53L0X_STRING_UNKNOW_ERROR_CODE \
			"Unknown Error Code"



	/* Range Status */
	#define  VL53L0X_STRING_RANGESTATUS_NONE                 "No Update"
	#define  VL53L0X_STRING_RANGESTATUS_RANGEVALID           "Range Valid"
	#define  VL53L0X_STRING_RANGESTATUS_SIGMA                "Sigma Fail"
	#define  VL53L0X_STRING_RANGESTATUS_SIGNAL               "Signal Fail"
	#define  VL53L0X_STRING_RANGESTATUS_MINRANGE             "Min Range Fail"
	#define  VL53L0X_STRING_RANGESTATUS_PHASE                "Phase Fail"
	#define  VL53L0X_STRING_RANGESTATUS_HW                   "Hardware Fail"


	/* Range Status */
	#define  VL53L0X_STRING_STATE_POWERDOWN               "POWERDOWN State"
	#define  VL53L0X_STRING_STATE_WAIT_STATICINIT \
			"Wait for staticinit State"
	#define  VL53L0X_STRING_STATE_STANDBY                 "STANDBY State"
	#define  VL53L0X_STRING_STATE_IDLE                    "IDLE State"
	#define  VL53L0X_STRING_STATE_RUNNING                 "RUNNING State"
	#define  VL53L0X_STRING_STATE_UNKNOWN                 "UNKNOWN State"
	#define  VL53L0X_STRING_STATE_ERROR                   "ERROR State"


	/* Device Specific */
	#define  VL53L0X_STRING_DEVICEERROR_NONE                   "No Update"
	#define  VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
			"VCSEL Continuity Test Failure"
	#define  VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
			"VCSEL Watchdog Test Failure"
	#define  VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
			"No VHV Value found"
	#define  VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
			"MSRC No Target Error"
	#define  VL53L0X_STRING_DEVICEERROR_SNRCHECK \
			"SNR Check Exit"
	#define  VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
			"Range Phase Check Error"
	#define  VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
			"Sigma Threshold Check Error"
	#define  VL53L0X_STRING_DEVICEERROR_TCC \
			"TCC Error"
	#define  VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
			"Phase Consistency Error"
	#define  VL53L0X_STRING_DEVICEERROR_MINCLIP \
			"Min Clip Error"
	#define  VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
			"Range Complete"
	#define  VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
			"Range Algo Underflow Error"
	#define  VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
			"Range Algo Overlow Error"
	#define  VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
			"Range Ignore Threshold Error"
	#define  VL53L0X_STRING_DEVICEERROR_UNKNOWN \
			"Unknown error code"

	/* Check Enable */
	#define  VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
			"SIGMA FINAL RANGE"
	#define  VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
			"SIGNAL RATE FINAL RANGE"
	#define  VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
			"SIGNAL REF CLIP"
	#define  VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
			"RANGE IGNORE THRESHOLD"
	#define  VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
			"SIGNAL RATE MSRC"
	#define  VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
			"SIGNAL RATE PRE RANGE"

	/* Sequence Step */
	#define  VL53L0X_STRING_SEQUENCESTEP_TCC                   "TCC"
	#define  VL53L0X_STRING_SEQUENCESTEP_DSS                   "DSS"
	#define  VL53L0X_STRING_SEQUENCESTEP_MSRC                  "MSRC"
	#define  VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE             "PRE RANGE"
	#define  VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE           "FINAL RANGE"
#endif /* USE_EMPTY_STRING */





/* sensor operating modes */ 
typedef enum
{
   range_single_shot_polling=1,
   range_continuous_polling,
   range_continuous_interrupt,
   range_continuous_polling_low_threshold,
   range_continuous_polling_high_threshold,
   range_continuous_polling_out_of_window,
   range_continuous_interrupt_low_threshold,
   range_continuous_interrupt_high_threshold,
   range_continuous_interrupt_out_of_window,
}OperatingMode;

/** default device address */
#define DEFAULT_DEVICE_ADDRESS		0x52 /* (8-bit) */

/* Classes -------------------------------------------------------------------*/
/** Class representing a VL53L0 sensor component
 */
class VL53L0X : public RangeSensor
{
 public:
    /** Constructor
     * @param[in] &i2c device I2C to be used for communication
     * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
     * @param[in] DevAddr device address, 0x29 by default  
     */
    VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), gpio0(&pin)
    {
       MyDevice.I2cDevAddr=DevAddr;		 
       MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
			 MyDevice.comms_speed_khz=400;
       Device=&MyDevice;
       expgpio0=NULL;
       if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
       	else { gpio1Int = NULL; }
    }  
    
    /** Constructor 2 (STMPE1600DigiOut)
     * @param[in] i2c device I2C to be used for communication
     * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
     * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
     * @param[in] device address, 0x29 by default  
     */		
    VL53L0X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), expgpio0(&pin)
    {
       MyDevice.I2cDevAddr=DevAddr;		 
       MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
			 MyDevice.comms_speed_khz=400;
       Device=&MyDevice;
       gpio0=NULL;		
       if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
       	else { gpio1Int = NULL; }
    }  	 
    
   /** Destructor
    */
    virtual ~VL53L0X(){ 
    	if (gpio1Int != NULL) delete gpio1Int;
    }     
    /* warning: VL53L0X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
       The warning should request to introduce a virtual destructor to make sure to delete the object */

	/*** Interface Methods ***/	
	/*** High level API ***/		
	/**
	 * @brief       PowerOn the sensor
	 * @return      void
	 */		
    /* turns on the sensor */		 
    void VL53L0X_On(void)
    {
        if (gpio0) 
	          *gpio0 = 1;
        else if (expgpio0) 
            *expgpio0 = 1;
        wait_ms(1);
    } 

	/**
	 * @brief       PowerOff the sensor
	 * @return      void
	 */		
    /* turns off the sensor */
    void VL53L0X_Off(void) 
    {
        if (gpio0) 
	          *gpio0 = 0;
        else if (expgpio0) 
            *expgpio0 = 0;
        wait_ms(1);
    }
    
	/**
	 * @brief       Initialize the sensor with default values
	 * @return      0 on Success
	 */
    int InitSensor(uint8_t NewAddr);

	/**
	 * @brief       Start the measure indicated by operating mode
	 * @param[in]   operating_mode specifies requested measure 
	 * @param[in]   fptr specifies call back function must be !NULL in case of interrupt measure	 
	 * @return      0 on Success
	 */					     
    int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void));

	/**
	 * @brief       Get results for the measure indicated by operating mode
	 * @param[in]   operating_mode specifies requested measure results
	 * @param[out]  Data pointer to the MeasureData_t structure to read data in to
	 * @return      0 on Success
	 */					         
    int GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);		

	/**
	 * @brief       Stop the currently running measure indicate by operating_mode
	 * @param[in]   operating_mode specifies requested measure to stop
	 * @return      0 on Success
	 */					             
    int StopMeasurement(OperatingMode operating_mode);
     
 	/**
	 * @brief       Interrupt handling func to be called by user after an INT is occourred
	 * @param[in]   opeating_mode indicating the in progress measure
	 * @param[out]  Data pointer to the MeasureData_t structure to read data in to
	 * @return      0 on Success
	 */					          		
    int HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);    

	/**
	 * @brief       Enable interrupt measure IRQ
	 * @return      0 on Success
	 */					     
    void EnableInterruptMeasureDetectionIRQ(void) 
    {
       if (gpio1Int != NULL) gpio1Int->enable_irq();
    }

	/**
	 * @brief       Disable interrupt measure IRQ
	 * @return      0 on Success
	 */					          
    void DisableInterruptMeasureDetectionIRQ(void) 
    {
       if (gpio1Int != NULL) gpio1Int->disable_irq();
    }
	/*** End High level API ***/	          
	
	/**
	 * @brief       Attach a function to call when an interrupt is detected, i.e. measurement is ready
	 * @param[in]   fptr pointer to call back function to be called whenever an interrupt occours
	 * @return      0 on Success
	 */					                  
    void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
    {
       if (gpio1Int != NULL) gpio1Int->rise(fptr);
    }
    
	/**
	 * @brief       Check the sensor presence
	 * @return      1 when device is present
	 */						
    unsigned Present()
    {
//       return Device->Present;
       return 1;
    }
		
    /** Wrapper functions */	
/** @defgroup api_init Init functions
 *  @brief    API init functions
 *  @ingroup api_hl
 *  @{  
 */
/**
 * @brief Wait for device booted after chip enable (hardware standby)
 * @par Function Description
 * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
 * @warning After device chip enable (gpio0) de-asserted  user must wait gpio1 to get asserted (hardware standby).
 * or wait at least 400usec prior to do any low level access or api call .
 *
 * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
 * @warning if device get prepared @a VL53L0X_Prepare() re-using these function can hold indefinitely\n
 *
 * @param 		void
 * @return     0 on success
 */
    int WaitDeviceBooted()
    {
       return VL53L0X_WaitDeviceBooted(Device);
//			return 1;
    }

/**
 *
 * @brief One time device initialization
 *
 * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
 *
 * @par Function Description
 * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
 * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
 * If application cannot execute device reset or need to run VL6180x_InitData  multiple time
 * then it  must ensure proper offset calibration saving and restore on its own
 * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
 *
 * @param void
 * @return     0 on success,  @a #CALIBRATION_WARNING if failed
 */		
    virtual int Init(void * NewAddr)
    {
       return VL53L0X_DataInit(Device);
    }

    virtual int init(void * NewAddr)
    {  
       return Init(NewAddr);
    }

/**
 * @brief Configure GPIO1 function and set polarity.
 * @par Function Description
 * To be used prior to arm single shot measure or start  continuous mode.
 *
 * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
 * @warning  changing polarity can generate a spurious interrupt on pins.
 * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
 * It is safe to run VL6180x_ClearAllInterrupt() just after.
 *
 * @param IntFunction   The interrupt functionality to use one of :\n
 *  @a #GPIOx_SELECT_OFF \n
 *  @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
 * @param ActiveHigh  The interrupt line polarity see ::IntrPol_e
 *      use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
 * @return 0 on success
 */		
    int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
    {
//       return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
			return 1;
    }

/**
  * @brief  Prepare device for operation
  * @par Function Description
  * Does static initialization and reprogram common default settings \n
  * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
  * After prepare user can : \n
  * @li Call other API function to set other settings\n
  * @li Configure the interrupt pins, etc... \n
  * @li Then start ranging or ALS operations in single shot or continuous mode
  *
  * @param void
  * @return      0 on success
  */		
    int Prepare()
    {
			// taken from rangingTest() in vl53l0x_SingleRanging_Example.c
		VL53L0X_Error Status = VL53L0X_ERROR_NONE;
        uint32_t refSpadCount;
        uint8_t isApertureSpads;
        uint8_t VhvSettings;
        uint8_t PhaseCal;

        if(Status == VL53L0X_ERROR_NONE)
        {
            printf ("Call of VL53L0X_StaticInit\n");
            Status = VL53L0X_StaticInit(Device); // Device Initialization
        }
    
        if(Status == VL53L0X_ERROR_NONE)
        {
            printf ("Call of VL53L0X_PerformRefCalibration\n");
           Status = VL53L0X_PerformRefCalibration(Device,
                        		&VhvSettings, &PhaseCal); // Device Initialization
        }

        if(Status == VL53L0X_ERROR_NONE)
        {
            printf ("Call of VL53L0X_PerformRefSpadManagement\n");
            Status = VL53L0X_PerformRefSpadManagement(Device,
                             &refSpadCount, &isApertureSpads); // Device Initialization
//            printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
        }
			
        return Status;
    }

 /**
 * @brief Start continuous ranging mode
 *
 * @details End user should ensure device is in idle state and not already running
 * @return      0 on success
 */		
    int RangeStartContinuousMode()
    {
//       return VL6180x_RangeStartContinuousMode(Device);
			return 1;
    }

/**
 * @brief Start single shot ranging measure
 *
 * @details End user should ensure device is in idle state and not already running
 * @return      0 on success 
 */		
    int RangeStartSingleShot()
    {
//       return VL6180x_RangeStartSingleShot(Device);
			return 1;
    }

/**
 * @brief Set maximum convergence time
 *
 * @par Function Description
 * Setting a low convergence time can impact maximal detectable distance.
 * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
 * A typical value for up to x3 scaling is 50 ms
 *
 * @param MaxConTime_msec
 * @return 0 on success. <0 on error. >0 for calibration warning status
 */		
    int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
    {
//       return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
			return 1;
    }

/**
  * @brief Single shot Range measurement in polling mode.
  *
  * @par Function Description
  * Kick off a new single shot range  then wait for ready to retrieve it by polling interrupt status \n
  * Ranging must be prepared by a first call to  @a VL6180x_Prepare() and it is safer to clear  very first poll call \n
  * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
  * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
  * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
  * \n This function clears Range Interrupt status , but not error one. For that uses  @a VL6180x_ClearErrorInterrupt() \n
  * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
  * 
  * @param pRangeData   Will be populated with the result ranging data @a  VL6180x_RangeData_t
  * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
  *
  * \sa ::VL6180x_RangeData_t
  */		
    int RangePollMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
    {
//       return VL6180x_RangePollMeasurement(Device, pRangeData);
			return 1;
    }

/**
 * @brief Check for measure readiness and get it if ready
 *
 * @par Function Description
 * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
 * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
 * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
 * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
 *
 * @warning 
 * This function does not re-start a new measurement : this is up to the host CPU to do it.\n 
 * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses  @a VL6180x_ClearErrorInterrupt() \n
 *
 * @param pRangeData  Will be populated with the result ranging data if available
 * @return  0 when measure is ready pRange data is updated (untouched when not ready),  >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
 */		
    int RangeGetMeasurementIfReady(VL53L0X_RangingMeasurementData_t *pRangeData)
    {
//       return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
			return 1;
    }

/**
 * @brief Retrieve range measurements set  from device
 *
 * @par Function Description
 * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
 * Based on configuration selected extra measures are included.
 *
 * @warning should not be used in continuous if wrap around filter is active \n
 * Does not perform any wait nor check for result availability or validity.
 *\sa VL6180x_RangeGetResult for "range only" measurement
 *
 * @param pRangeData  Pointer to the data structure to fill up
 * @return            0 on success
 */		
    int RangeGetMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
    {
//       return VL6180x_RangeGetMeasurement(Device, pRangeData);
			return 1;
    }

/**
 * @brief Get ranging result and only that
 *
 * @par Function Description
 * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
 * It does any required up-scale translation\n
 * It can be called after success status polling or in interrupt mode \n
 * @warning these function is not doing wrap around filtering \n
 * This function doesn't perform any data ready check!
 *
 * @param pRange_mm  Pointer to range distance
 * @return           0 on success
 */		
    virtual int GetDistance(uint32_t *piData)
    {
        int status=0;
        VL53L0X_RangingMeasurementData_t pRangingMeasurementData;

        status=StartMeasurement(range_single_shot_polling, NULL);
        if (!status) {
            status=GetMeasurement(range_single_shot_polling, &pRangingMeasurementData);
        }
        if (pRangingMeasurementData.RangeStatus == 0) {
        // we have a valid range.
            *piData = pRangingMeasurementData.RangeMilliMeter;
        }
        else {
            *piData = 0;
            status = VL53L0X_ERROR_RANGE_ERROR;
        }
        StopMeasurement(range_single_shot_polling);
        return status;
    }

    virtual int get_distance(uint32_t *piData)
    {
	return GetDistance(piData);
    }
		
/**
 * @brief Configure ranging interrupt reported to application
 *
 * @param ConfigGpioInt  Select ranging report\n select one (and only one) of:\n
 *   @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
 *   @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
 *   @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
 *   @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
 *   @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
 * @return   0 on success
 */
    int RangeConfigInterrupt(uint8_t ConfigGpioInt)
    {
//       return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
			return 1;
    }

/**
 * @brief Return ranging error interrupt status
 *
 * @par Function Description
 * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a  VL6180x_Prepare() \n
 *
 * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
 * Events triggers are : \n
 * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
 * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
 * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
 * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
 *
 * @sa IntrStatus_t
 * @param pIntStatus Pointer to status variable to update
 * @return           0 on success
 */		
    int RangeGetInterruptStatus(uint8_t *pIntStatus)
    {
//       return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
			return 1;
    }

/**
 * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
 *
 * @return 0 on success
 */
    int StaticInit()
    {
//       return VL6180x_StaticInit(Device);
			return 1;
    }

/**
 * @brief Wait for device to be ready (before a new ranging command can be issued by application)
 * @param MaxLoop    Max Number of i2c polling loop see @a #msec_2_i2cloop
 * @return           0 on success. <0 when fail \n
 *                   @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
 *                   @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
 */		
    int RangeWaitDeviceReady(int MaxLoop )
    {
//       return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
			return 1;
    }

/**
 * @brief Program Inter measurement period (used only in continuous mode)
 *
 * @par Function Description
 * When trying to set too long time, it returns #INVALID_PARAMS
 *
 * @param InterMeasTime_msec Requires inter-measurement time in msec
 * @return 0 on success
 */		
    int RangeSetInterMeasPeriod(uint32_t  InterMeasTime_msec)
    {
//       return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
			return 1;
    }

/**
 * @brief Set device ranging scaling factor
 *
 * @par Function Description
 * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
 * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
 * It can be source of spurious interrupt, wrongly scaled range etc ...
 * @warning __This  function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
 *  To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
 *  @li Set Group hold  : @a VL6180x_SetGroupParamHold() \n
 *  @li Get Threshold @a VL6180x_RangeGetThresholds() \n
 *  @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
 *  @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
 *  @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
 *
 * @param scaling  Scaling factor to apply (1,2 or 3)
 * @return          0 on success when up-scale support is not configured it fail for any
 *                  scaling than the one statically configured.
 */
    int UpscaleSetScaling(uint8_t scaling)
    {
//       return VL6180x_UpscaleSetScaling(Device, scaling);
			return 1;
    }

/**
 * @brief Get current ranging scaling factor
 *
 * @return    The current scaling factor
 */				
    int UpscaleGetScaling()
    {
//       return VL6180x_UpscaleGetScaling(Device);
			return 1;
    }

/**
 * @brief Get the maximal distance for actual scaling
 * @par Function Description
 * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
 *
 * Any range value more than the value returned by this function is to be considered as "no target detected"
 * or "no target in detectable range" \n
 * @warning The maximal distance depends on the scaling
 *
 * @return    The maximal range limit for actual mode and scaling
 */		
    uint16_t GetUpperLimit()
    {
//       return VL6180x_GetUpperLimit(Device);
			return 1;
    }

/**
 * @brief Apply low and high ranging thresholds that are considered only in continuous mode
 *
 * @par Function Description
 * This function programs low and high ranging thresholds that are considered in continuous mode : 
 * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.  
 * The function takes care of applying current scaling factor if any.\n
 * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
 * Group hold can be activated/deactivated directly in the function or externally (then set 0)
 * using /a VL6180x_SetGroupParamHold() function.
 *
 * @param low      Low threshold in mm
 * @param high     High threshold in mm
 * @param SafeHold  Use of group parameters hold to surround threshold programming.
 * @return  0 On success
 */		
    int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
    {
//       return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
			return 1;
    }

/**
 * @brief  Get scaled high and low threshold from device
 *
 * @par Function Description
 * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
 * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
 * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
 *
 * @param low  scaled low Threshold ptr  can be NULL if not needed
 * @param high scaled High Threshold ptr can be NULL if not needed
 * @return 0 on success, return value is undefined if both low and high are NULL
 * @warning return value is undefined if both low and high are NULL
 */
    int RangeGetThresholds(uint16_t *low, uint16_t *high)
    {
//       return VL6180x_RangeGetThresholds(Device, low, high);
			return 1;
    }

/**
 * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
 *
 * @param low  raw low threshold set to raw register
 * @param high raw high threshold set to raw  register
 * @return 0 on success
 */			
    int RangeSetRawThresholds(uint8_t low, uint8_t high)
    {
//       return VL6180x_RangeSetRawThresholds(Device, low, high);
			return 1;
    }

/**
 * @brief Set Early Convergence Estimate ratio
 * @par Function Description
 * For more information on ECE check datasheet
 * @warning May return a calibration warning in some use cases
 *
 * @param FactorM    ECE factor M in M/D
 * @param FactorD    ECE factor D in M/D
 * @return           0 on success. <0 on error. >0 on warning
 */		
    int RangeSetEceFactor(uint16_t  FactorM, uint16_t FactorD)
    {
//       return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
			return 1;
    }

/**
 * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
 * @param enable    State to be set 0=disabled, otherwise enabled
 * @return          0 on success
 */		
    int RangeSetEceState(int enable)
    {
//       return VL6180x_RangeSetEceState(Device, enable);
			return 1;
    }

/**
 * @brief Set activation state of the wrap around filter
 * @param state New activation state (0=off,  otherwise on)
 * @return      0 on success
 */			
    int FilterSetState(int state)
    {
//       return VL6180x_FilterSetState(Device, state);
			return 1;
    }

/**
 * Get activation state of the wrap around filter
 * @return     Filter enabled or not, when filter is not supported it always returns 0S
 */			
    int FilterGetState()
    {
//       return VL6180x_FilterGetState(Device);
			return 1;
    }

/**
 * @brief Set activation state of  DMax computation
 * @param state New activation state (0=off,  otherwise on)
 * @return      0 on success
 */		
    int DMaxSetState(int state)
    {
//       return VL6180x_DMaxSetState(Device, state);
			return 1;
    }

/**
 * Get activation state of DMax computation
 * @return     Filter enabled or not, when filter is not supported it always returns 0S
 */		
    int DMaxGetState()
    {
//       return VL6180x_DMaxGetState(Device);
			return 1;
    }

/**
 * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
 *
 * @par Function Description
 * When used outside scope of known polling single shot stopped state, \n
 * user must ensure the device state is "idle" before to issue a new command.
 *
 * @param mode  A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
 * @return      0 on success
 */		
    int RangeSetSystemMode(uint8_t mode)
    {
//       return VL6180x_RangeSetSystemMode(Device, mode);
			return 1;
    }

/** @}  */ 

/** @defgroup api_ll_range_calibration Ranging calibration functions
 *  @brief    Ranging calibration functions
 *  @ingroup api_ll
 *  @{  
 */
/**
 * @brief Get part to part calibration offset
 *
 * @par Function Description
 * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
 *
 * @return part to part calibration offset from device
 */		
    int8_t GetOffsetCalibrationData()
    {
//       return VL6180x_GetOffsetCalibrationData(Device);
			return 1;
    }

/**
 * Set or over-write part to part calibration offset
 * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
 * @param offset   Offset
 */		
    void SetOffsetCalibrationData(int8_t offset)
    {
//       return VL6180x_SetOffsetCalibrationData(Device, offset);
			return;
    }

/**
 * @brief Set Cross talk compensation rate
 *
 * @par Function Description
 * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
 *
 * @param Rate Compensation rate (9.7 fix point) see datasheet for details
 * @return     0 on success
 */		
    int SetXTalkCompensationRate(uint16_t Rate)
    {
//       return VL6180x_SetXTalkCompensationRate(Device, Rate);
			return 1;
    }
/** @}  */

/**
 * @brief Set new device i2c address
 *
 * After completion the device will answer to the new address programmed.
 *
 * @sa AN4478: Using multiple VL6180X's in a single design
 * @param NewAddr   The new i2c address (7bit)
 * @return          0 on success
 */		
    int SetDeviceAddress(int NewAddr)
    {
       int status;
			
       status=VL53L0X_SetDeviceAddress(Device, NewAddr);
       if(!status)
          Device->I2cDevAddr=NewAddr;
       return status;
			
//			return 1;
    }

/**
 * @brief Fully configure gpio 0/1 pin : polarity and functionality
 *
 * @param pin          gpio pin 0 or 1
 * @param IntFunction  Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
 * @param ActiveHigh   Set active high polarity, or active low see @a ::IntrPol_e
 * @return             0 on success
 */		
    int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
    {
//       return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
			return 1;
    }

/**
 * @brief Set interrupt pin polarity for the given GPIO
 *
 * @param pin          Pin 0 or 1
 * @param active_high  select active high or low polarity using @ref IntrPol_e
 * @return             0 on success
 */		
    int SetGPIOxPolarity(int pin, int active_high)
    {
//       return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
			return 1;
    }

/**
 * Select interrupt functionality for the given GPIO
 *
 * @par Function Description
 * Functionality refer to @a SYSTEM_MODE_GPIO0
 *
 * @param pin            Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
 * @param functionality  Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
 * @return              0 on success
 */		 
    int SetGPIOxFunctionality(int pin, uint8_t functionality)
    {
//       return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
			return 1;
    }

/**
 * #brief Disable and turn to Hi-Z gpio output pin
 *
 * @param pin  The pin number to disable 0 or 1
 * @return     0 on success
 */	
    int DisableGPIOxOut(int pin)
    {
//       return VL6180x_DisableGPIOxOut(Device, pin);
			return 1;
    }

/** @}  */

/** @defgroup api_ll_intr Interrupts management functions
 *  @brief    Interrupts management functions
 *  @ingroup api_ll
 *  @{  
 */

/**
 * @brief     Get all interrupts cause
 *
 * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
 * @return 0 on success
 */		
    int GetInterruptStatus(uint8_t *status)
    {
//       return VL6180x_GetInterruptStatus(Device, status);
			return 1;
    }

/**
 * @brief Clear given system interrupt condition
 *
 * @par Function Description
 * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
 * @param dev       The device 
 * @param IntClear  Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
 * @return  0       On success
 */		
    int ClearInterrupt(uint8_t IntClear)
    {
//       return VL6180x_ClearInterrupt(Device, IntClear );
			return 1;
    }

/**
 * @brief Clear error interrupt
 *
 * @param dev    The device
 * @return  0    On success
 */
 #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)

/**
 * @brief Clear All interrupt causes (als+range+error)
 *
 * @param dev    The device
 * @return  0    On success
 */
#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
	

 private:		
    /* api.h functions */
    VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter);
    VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
    	int32_t OffsetCalibrationDataMicroMeter);
    VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
    	VL53L0X_DeviceParameters_t *pDeviceParameters);
    VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
    	VL53L0X_DeviceModes *pDeviceMode);
    VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
    	uint32_t *pInterMeasurementPeriodMilliSeconds);
    VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
    	FixPoint1616_t *pXTalkCompensationRateMegaCps);
    VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
    	FixPoint1616_t *pLimitCheckValue);
    VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
    	uint8_t *pLimitCheckEnable);
    VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
    	uint8_t *pWrapAroundCheckEnable);
    VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
    	uint32_t *pMeasurementTimingBudgetMicroSeconds);
    VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
    	VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps);
    VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev,
    	VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
    	uint8_t *pSequenceStepEnabled);
    VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
    	VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
    VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
    	VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
    VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
    	uint8_t *pMeasurementDataReady);
    VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
    	uint32_t *pInterruptMaskStatus);
    VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask);
    VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
    	VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
    VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode);
    VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
    	uint8_t StartNotStopFlag);
    VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
    	VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
    	FixPoint1616_t *pThresholdHigh);
    VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev,
    	VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
    VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
    	uint8_t *pXTalkCompensationEnable);
    VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
    	uint8_t *pPhaseCal);
    VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
    	uint32_t *refSpadCount, uint8_t *isApertureSpads);
    VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress);
    VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
    	VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
    	VL53L0X_InterruptPolarity Polarity);
    VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled);
    VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
    	VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
    VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
    	uint32_t MeasurementTimingBudgetMicroSeconds);
    VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
    	uint8_t LimitCheckEnable);
    VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
    	FixPoint1616_t LimitCheckValue);
    VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
    	uint32_t *pStopStatus);
    VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
    	VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod);

    /* api_core.h functions */
    VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
    VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
    		uint32_t *pMeasurementTimingBudgetMicroSeconds);
    VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
    	VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
    uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
    uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
    uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev,
    		uint16_t timeout_period_mclks,
    		uint8_t vcsel_period_pclks);
    uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks);
    VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
    		uint8_t *pTuningSettingBuffer);
    VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
    		uint8_t DeviceRangeStatus,
    		FixPoint1616_t SignalRate,
    		uint16_t EffectiveSpadRtnCount,
    		VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
    		uint8_t *pPalRangeStatus);
    VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
    	VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
    	FixPoint1616_t *pSigmaEstimate,
    	uint32_t *pDmax_mm);
    VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
    	VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
    	FixPoint1616_t *ptotal_signal_rate_mcps);
    VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
    	VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
    	FixPoint1616_t *ptotal_xtalk_rate_mcps);
    uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
    		uint32_t timeout_period_us,
    		uint8_t vcsel_period_pclks);
    uint32_t VL53L0X_isqrt(uint32_t num);
    VL53L0X_Error VL53L0X_calc_dmax(
    	VL53L0X_DEV Dev,
    	FixPoint1616_t totalSignalRate_mcps,
    	FixPoint1616_t totalCorrSignalRate_mcps,
    	FixPoint1616_t pwMult,
    	uint32_t sigmaEstimateP1,
    	FixPoint1616_t sigmaEstimateP2,
    	uint32_t peakVcselDuration_us,
    	uint32_t *pdmax_mm);
    VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
    		uint32_t MeasurementTimingBudgetMicroSeconds);
    VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
    				VL53L0X_SequenceStepId SequenceStepId,
    				uint32_t *pTimeOutMicroSecs);
    VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
    					VL53L0X_SequenceStepId SequenceStepId,
    					uint32_t TimeOutMicroSecs);
    uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
    VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
    	VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
    uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);

    /* api_calibration.h functions */
    VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
    VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
    		int32_t *pOffsetCalibrationDataMicroMeter);
    VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
    		int32_t OffsetCalibrationDataMicroMeter);
    VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
    				uint32_t *refSpadCount,
    				uint8_t *isApertureSpads);
    VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
    	uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
    VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev,
    	uint8_t *pVhvSettings, const uint8_t get_data_enable,
    	const uint8_t restore_config);
    VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev,
    		uint8_t vhv_init_byte);
    VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write,
    	uint8_t VhvSettings, uint8_t PhaseCal,
    	uint8_t *pVhvSettings, uint8_t *pPhaseCal,
    	const uint8_t vhv_enable, const uint8_t phase_enable);
    VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
    	uint8_t *pPhaseCal, const uint8_t get_data_enable,
    	const uint8_t restore_config);
    VL53L0X_Error enable_ref_spads(VL53L0X_DEV Dev,
    				uint8_t apertureSpads,
    				uint8_t goodSpadArray[],
    				uint8_t spadArray[],
    				uint32_t size,
    				uint32_t start,
    				uint32_t offset,
    				uint32_t spadCount,
    				uint32_t *lastSpad);
    void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size,
    			uint32_t curr, int32_t *next);
    uint8_t is_aperture(uint32_t spadIndex);
    VL53L0X_Error enable_spad_bit(uint8_t spadArray[], uint32_t size,
    	uint32_t spadIndex);
    VL53L0X_Error set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
    VL53L0X_Error get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
    VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV Dev,
    		uint16_t *refSignalRate);
    VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
    				 uint32_t count, uint8_t isApertureSpads);

    /* api_strings.h functions */
    VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
    				VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
    VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev,
    		uint8_t *Revision,
    		VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);

    /* Read function of the ID device */
    virtual int ReadID(uint8_t *id);
    virtual int read_id(uint8_t *id);
    
    VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);
    VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev);

    /* Write and read functions from I2C */
		
    VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
    VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV dev, uint8_t index, uint16_t data);
    VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV dev, uint8_t index, uint32_t data);
    VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV dev, uint8_t index, uint8_t *data);
    VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV dev, uint8_t index, uint16_t *data);
    VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV dev, uint8_t index, uint32_t *data);
    VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV dev, uint8_t index, uint8_t AndData, uint8_t OrData);
		
    VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
    VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
		
	VL53L0X_Error VL53L0X_I2CWrite(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
	VL53L0X_Error VL53L0X_I2CRead(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
		
    VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
		
    int IsPresent()
    {
       int status;
			
       status=ReadID((uint8_t *)MyDevice.I2cDevAddr);
       if(status)
          VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
       return status;
    }	
    int StopRangeMeasurement(OperatingMode operating_mode);
    int GetRangeMeas(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);	
    int RangeSetLowThreshold(uint16_t threshold);
    int RangeSetHighThreshold(uint16_t threshold);
    int GetRangeError(VL53L0X_RangingMeasurementData_t *Data, VL53L0X_RangingMeasurementData_t RangeData);
    int RangeMeasPollSingleShot();
    int RangeMeasPollContinuousMode();	
    int RangeMeasIntContinuousMode(void (*fptr)(void));


    VL53L0X_DeviceInfo_t DeviceInfo;
		
    /* IO Device */
    DevI2C &dev_i2c;
    /* Digital out pin */
    DigitalOut *gpio0;
    /* GPIO expander */
    STMPE1600DigiOut *expgpio0;
    /* Measure detection IRQ */
    InterruptIn *gpio1Int;
    /* Device data */
	VL53L0X_Dev_t MyDevice;
    VL53L0X_DEV Device;  
};


#endif /* _VL53L0X_CLASS_H_ */