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#ifndef __VL53L1X_CLASS_H
#define __VL53L1X_CLASS_H

#define USE_SOFT_I2C_MASTER // saves up to 2400 bytes program memory and 220 bytes RAM compared with Arduino Wire

#ifdef _MSC_VER
#   if defined(VL)53L1X_API_EXPORTS
#       define VL53L1X_API  __declspec(dllexport)
#   else
#       define VL53L1X_API
#   endif
#else
#   define VL53L1X_API
#endif

/* Includes ------------------------------------------------------------------*/
#include "Arduino.h"

#if defined(__AVR__) && defined(USE_SOFT_I2C_MASTER)
#define USE_SOFT_I2C_MASTER_H_AS_PLAIN_INCLUDE
#include "SoftI2CMaster.h"
#else
#include "Wire.h"
#endif // defined(USE_SOFT_I2C_MASTER)
#include "RangeSensor.h"
#include "vl53l1_error_codes.h"

#define VL53L1X_IMPLEMENTATION_VER_MAJOR       1
#define VL53L1X_IMPLEMENTATION_VER_MINOR       0
#define VL53L1X_IMPLEMENTATION_VER_SUB         1
#define VL53L1X_IMPLEMENTATION_VER_REVISION  0000

typedef int8_t VL53L1X_ERROR;

#define SOFT_RESET											0x0000
#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS					0x0001
#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND        0x0008
#define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 		0x0016
#define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 	0x0018
#define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 	0x001A
#define ALGO__PART_TO_PART_RANGE_OFFSET_MM					0x001E
#define MM_CONFIG__INNER_OFFSET_MM							0x0020
#define MM_CONFIG__OUTER_OFFSET_MM 							0x0022
#define GPIO_HV_MUX__CTRL									0x0030
#define GPIO__TIO_HV_STATUS       							0x0031
#define SYSTEM__INTERRUPT_CONFIG_GPIO 						0x0046
#define PHASECAL_CONFIG__TIMEOUT_MACROP     				0x004B
#define RANGE_CONFIG__TIMEOUT_MACROP_A_HI   				0x005E
#define RANGE_CONFIG__VCSEL_PERIOD_A        				0x0060
#define RANGE_CONFIG__VCSEL_PERIOD_B						0x0063
#define RANGE_CONFIG__TIMEOUT_MACROP_B_HI  					0x0061
#define RANGE_CONFIG__TIMEOUT_MACROP_B_LO  					0x0062
#define RANGE_CONFIG__SIGMA_THRESH 							0x0064
#define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS			0x0066
#define RANGE_CONFIG__VALID_PHASE_HIGH      				0x0069
#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD				0x006C
#define SYSTEM__THRESH_HIGH 								0x0072
#define SYSTEM__THRESH_LOW 									0x0074
#define SD_CONFIG__WOI_SD0                  				0x0078
#define SD_CONFIG__INITIAL_PHASE_SD0        				0x007A
#define ROI_CONFIG__USER_ROI_CENTRE_SPAD					0x007F
#define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE		0x0080
#define SYSTEM__SEQUENCE_CONFIG								0x0081
#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 				0x0082
#define SYSTEM__INTERRUPT_CLEAR       						0x0086
#define SYSTEM__MODE_START                 					0x0087
#define VL53L1_RESULT__RANGE_STATUS							0x0089
#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0		0x008C
#define RESULT__AMBIENT_COUNT_RATE_MCPS_SD					0x0090
#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0				0x0096
#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 	0x0098
#define VL53L1_RESULT__OSC_CALIBRATE_VAL					0x00DE
#define VL53L1_FIRMWARE__SYSTEM_STATUS                      0x00E5
#define VL53L1_IDENTIFICATION__MODEL_ID                     0x010F
#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD				0x013E

#define VL53L1X_DEFAULT_DEVICE_ADDRESS						0x52

/****************************************
 * PRIVATE define do not edit
 ****************************************/

/**
 *  @brief defines SW Version
 */
typedef struct {
    uint8_t major; /*!< major number */
    uint8_t minor; /*!< minor number */
    uint8_t build; /*!< build number */
    uint32_t revision; /*!< revision number */
} VL53L1X_Version_t;

typedef struct {

    uint8_t I2cDevAddr;
#if !(defined(__AVR__) && defined(USE_SOFT_I2C_MASTER))
    TwoWire *I2cHandle;
#endif

} VL53L1_Dev_t;

typedef VL53L1_Dev_t *VL53L1_DEV;

/* Classes -------------------------------------------------------------------*/
/** Class representing a VL53L1 sensor component
 */
class VL53L1X: 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, 0x52 by default
     */
#if defined(__AVR__) && defined(USE_SOFT_I2C_MASTER)
    VL53L1X(int pin, int pin_gpio1) :
        RangeSensor(), gpio0(pin), gpio1Int(pin_gpio1) {
#else
    VL53L1X(TwoWire *i2c, int pin, int pin_gpio1) :
        RangeSensor(), dev_i2c(i2c), gpio0(pin), gpio1Int(pin_gpio1) {
        MyDevice.I2cHandle = i2c;
#endif
        MyDevice.I2cDevAddr = VL53L1X_DEFAULT_DEVICE_ADDRESS;
        Device = &MyDevice;
        if (gpio0 >= 0) {
            pinMode(gpio0, OUTPUT);
        }
    }

    /** Destructor
     */
//    virtual ~VL53L1X(){}
    /* warning: VL53L1 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 */
    virtual void VL53L1_On(void) {
        if (gpio0 >= 0) {
            digitalWrite(gpio0, HIGH);
        }
        delay(10);
    }

    /**
     * @brief       PowerOff the sensor
     * @return      void
     */
    /* turns off the sensor */
    virtual void VL53L1_Off(void) {
        if (gpio0 >= 0) {
            digitalWrite(gpio0, LOW);
        }
        delay(10);
    }

    /**
     * @brief       Initialize the sensor with default values
     * @return      0 on Success
     */

    VL53L1X_ERROR InitSensor(uint8_t address) {
        VL53L1X_ERROR status = 0;
        uint8_t sensorState = 0;
        VL53L1_Off();
        VL53L1_On();
        status = VL53L1X_SetI2CAddress(address);

#if defined(DEBUG_MODE)
		uint8_t byteData;
		uint16_t wordData;
		status = VL53L1_RdByte(Device, 0x010F, &byteData);
		Serial.println("VL53L1X Model_ID: " + String(byteData));
		status = VL53L1_RdByte(Device, 0x0110, &byteData);
		Serial.println("VL53L1X Module_Type: " + String(byteData));
		status = VL53L1_RdWord(Device, 0x010F, &wordData);
		Serial.println("VL53L1X: " + String(wordData));
#endif

        while (!sensorState && !status) {
            status = VL53L1X_BootState(&sensorState);
            delay(2);
        }
        if (!status) {
            status = VL53L1X_SensorInit();
        }
        return status;
    }

    /**
     *
     * @brief One time device initialization
     * @param void
     * @return     0 on success,  @a #CALIBRATION_WARNING if failed
     */
    virtual int Init() {
        return VL53L1X_SensorInit();
    }

    /* Read function of the ID device */
    virtual int ReadID() {
        uint16_t sensorId;
        VL53L1X_GetSensorId(&sensorId);
        if (sensorId == 0xEEAC)
            return 0;
        return -1;
    }

    /**
     * @brief Get ranging result and only that
     * @param pRange_mm  Pointer to range distance
     * @return           0 on success
     */
    int GetDistance(uint32_t *piData) {
        int status;
        uint16_t distance;
        status = VL53L1X_GetDistance(&distance);
        *piData = (uint32_t) distance;
        return status;
    }

    /* VL53L1X_api.h functions */

    /**
     * @brief This function returns the SW driver version
     */
    VL53L1X_ERROR VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion);

    /**
     * @brief This function sets the sensor I2C address used in case multiple devices application, default address 0x52
     */
    VL53L1X_ERROR VL53L1X_SetI2CAddress(uint8_t new_address);

    /**
     * @brief This function loads the 135 bytes default values to initialize the sensor.
     * @param dev Device address
     * @return 0:success, != 0:failed
     */
    VL53L1X_ERROR VL53L1X_SensorInit();

    /**
     * @brief This function clears the interrupt, to be called after a ranging data reading
     * to arm the interrupt for the next data ready event.
     */
    VL53L1X_ERROR VL53L1X_ClearInterrupt();

    /**
     * @brief This function programs the interrupt polarity\n
     * 1=active high (default), 0=active low
     */
    VL53L1X_ERROR VL53L1X_SetInterruptPolarity(uint8_t IntPol);

    /**
     * @brief This function returns the current interrupt polarity\n
     * 1=active high (default), 0=active low
     */
    VL53L1X_ERROR VL53L1X_GetInterruptPolarity(uint8_t *pIntPol);

    /**
     * @brief This function starts the ranging distance operation\n
     * The ranging operation is continuous. The clear interrupt has to be done after each get data to allow the interrupt to raise when the next data is ready\n
     * 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.
     */
    VL53L1X_ERROR VL53L1X_StartRanging();

    /**
     * @brief This function stops the ranging.
     */
    VL53L1X_ERROR VL53L1X_StopRanging();

    /**
     * @brief This function checks if the new ranging data is available by polling the dedicated register.
     * @param : isDataReady==0 -> not ready; isDataReady==1 -> ready
     */
    VL53L1X_ERROR VL53L1X_CheckForDataReady(uint8_t *isDataReady);

    /**
     * @brief This function programs the timing budget in ms.
     * Predefined values = 15, 20, 33, 50, 100(default), 200, 500.
     */
    VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs(uint16_t TimingBudgetInMs);

    /**
     * @brief This function returns the current timing budget in ms.
     */
    VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs(uint16_t *pTimingBudgetInMs);

    /**
     * @brief This function programs the distance mode (1=short, 2=long(default)).
     * Short mode max distance is limited to 1.3 m but better ambient immunity.\n
     * Long mode can range up to 4 m in the dark with 200 ms timing budget.
     */
    VL53L1X_ERROR VL53L1X_SetDistanceMode(uint16_t DistanceMode);

    /**
     * @brief This function returns the current distance mode (1=short, 2=long).
     */
    VL53L1X_ERROR VL53L1X_GetDistanceMode(uint16_t *pDistanceMode);

    /**
     * @brief This function programs the Intermeasurement period in ms\n
     * Intermeasurement period must be >/= timing budget. This condition is not checked by the API,
     * the customer has the duty to check the condition. Default = 100 ms
     */
    VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs(uint16_t InterMeasurementInMs);

    /**
     * @brief This function returns the Intermeasurement period in ms.
     */
    VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs(uint16_t *pIM);

    /**
     * @brief This function returns the boot state of the device (1:booted, 0:not booted)
     */
    VL53L1X_ERROR VL53L1X_BootState(uint8_t *state);

    /**
     * @brief This function returns the sensor id, sensor Id must be 0xEEAC
     */
    VL53L1X_ERROR VL53L1X_GetSensorId(uint16_t *id);

    /**
     * @brief This function returns the distance measured by the sensor in mm
     */
    VL53L1X_ERROR VL53L1X_GetDistance(uint16_t *distance);

    /**
     * @brief This function returns the returned signal per SPAD in kcps/SPAD.
     * With kcps stands for Kilo Count Per Second
     */
    VL53L1X_ERROR VL53L1X_GetSignalPerSpad(uint16_t *signalPerSp);

    /**
     * @brief This function returns the ambient per SPAD in kcps/SPAD
     */
    VL53L1X_ERROR VL53L1X_GetAmbientPerSpad(uint16_t *amb);

    /**
     * @brief This function returns the returned signal in kcps.
     */
    VL53L1X_ERROR VL53L1X_GetSignalRate(uint16_t *signalRate);

    /**
     * @brief This function returns the current number of enabled SPADs
     */
    VL53L1X_ERROR VL53L1X_GetSpadNb(uint16_t *spNb);

    /**
     * @brief This function returns the ambient rate in kcps
     */
    VL53L1X_ERROR VL53L1X_GetAmbientRate(uint16_t *ambRate);

    /**
     * @brief This function returns the ranging status error \n
     * (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around)
     */
    VL53L1X_ERROR VL53L1X_GetRangeStatus(uint8_t *rangeStatus);

    /**
     * @brief This function programs the offset correction in mm
     * @param OffsetValue:the offset correction value to program in mm
     */
    VL53L1X_ERROR VL53L1X_SetOffset(int16_t OffsetValue);

    /**
     * @brief This function returns the programmed offset correction value in mm
     */
    VL53L1X_ERROR VL53L1X_GetOffset(int16_t *Offset);

    /**
     * @brief This function programs the xtalk correction value in cps (Count Per Second).\n
     * This is the number of photons reflected back from the cover glass in cps.
     */
    VL53L1X_ERROR VL53L1X_SetXtalk(uint16_t XtalkValue);

    /**
     * @brief This function returns the current programmed xtalk correction value in cps
     */
    VL53L1X_ERROR VL53L1X_GetXtalk(uint16_t *Xtalk);

    /**
     * @brief This function programs the threshold detection mode\n
     * Example:\n
     * VL53L1X_SetDistanceThreshold(dev,100,300,0,1): Below 100 \n
     * VL53L1X_SetDistanceThreshold(dev,100,300,1,1): Above 300 \n
     * VL53L1X_SetDistanceThreshold(dev,100,300,2,1): Out of window \n
     * VL53L1X_SetDistanceThreshold(dev,100,300,3,1): In window \n
     * @param   dev : device address
     * @param  	ThreshLow(in mm) : the threshold under which one the device raises an interrupt if Window = 0
     * @param 	ThreshHigh(in mm) :  the threshold above which one the device raises an interrupt if Window = 1
     * @param   Window detection mode : 0=below, 1=above, 2=out, 3=in
     * @param   IntOnNoTarget = 1 (No longer used - just use 1)
     */
    VL53L1X_ERROR VL53L1X_SetDistanceThreshold(uint16_t ThreshLow, uint16_t ThreshHigh, uint8_t Window, uint8_t IntOnNoTarget);

    /**
     * @brief This function returns the window detection mode (0=below; 1=above; 2=out; 3=in)
     */
    VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow(uint16_t *window);

    /**
     * @brief This function returns the low threshold in mm
     */
    VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow(uint16_t *low);

    /**
     * @brief This function returns the high threshold in mm
     */
    VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh(uint16_t *high);

    /**
     * @brief This function programs the ROI (Region of Interest)\n
     * The ROI position is centered, only the ROI size can be reprogrammed.\n
     * The smallest acceptable ROI size = 4\n
     * @param X:ROI Width; Y=ROI Height
     */
    VL53L1X_ERROR VL53L1X_SetROI(uint8_t X, uint8_t Y, uint8_t opticalCenter);

    /**
     *@brief This function returns width X and height Y
     */
    VL53L1X_ERROR VL53L1X_GetROI_XY(uint16_t *ROI_X, uint16_t *ROI_Y);

    /**
     * @brief This function programs a new signal threshold in kcps (default=1024 kcps\n
     */
    VL53L1X_ERROR VL53L1X_SetSignalThreshold(uint16_t signal);

    /**
     * @brief This function returns the current signal threshold in kcps
     */
    VL53L1X_ERROR VL53L1X_GetSignalThreshold(uint16_t *signal);

    /**
     * @brief This function programs a new sigma threshold in mm (default=15 mm)
     */
    VL53L1X_ERROR VL53L1X_SetSigmaThreshold(uint16_t sigma);

    /**
     * @brief This function returns the current sigma threshold in mm
     */
    VL53L1X_ERROR VL53L1X_GetSigmaThreshold(uint16_t *signal);

    /**
     * @brief This function performs the temperature calibration.
     * It is recommended to call this function any time the temperature might have changed by more than 8 deg C
     * without sensor ranging activity for an extended period.
     */
    VL53L1X_ERROR VL53L1X_StartTemperatureUpdate();

    /* VL53L1X_calibration.h functions */

    /**
     * @brief This function performs the offset calibration.\n
     * The function returns the offset value found and programs the offset compensation into the device.
     * @param TargetDistInMm target distance in mm, ST recommended 100 mm
     * Target reflectance = grey17%
     * @return 0:success, !=0: failed
     * @return offset pointer contains the offset found in mm
     */
    int8_t VL53L1X_CalibrateOffset(uint16_t TargetDistInMm, int16_t *offset);

    /**
     * @brief This function performs the xtalk calibration.\n
     * The function returns the xtalk value found and programs the xtalk compensation to the device
     * @param TargetDistInMm target distance in mm\n
     * The target distance : the distance where the sensor start to "under range"\n
     * due to the influence of the photons reflected back from the cover glass becoming strong\n
     * It's also called inflection point\n
     * Target reflectance = grey 17%
     * @return 0: success, !=0: failed
     * @return xtalk pointer contains the xtalk value found in cps (number of photons in count per second)
     */
    int8_t VL53L1X_CalibrateXtalk(uint16_t TargetDistInMm, uint16_t *xtalk);

    /* Write and read functions from I2C */

    VL53L1X_ERROR VL53L1_WrByte(VL53L1_DEV dev, uint16_t index, uint8_t data);
    VL53L1X_ERROR VL53L1_WrWord(VL53L1_DEV dev, uint16_t index, uint16_t data);
    VL53L1X_ERROR VL53L1_WrDWord(VL53L1_DEV dev, uint16_t index, uint32_t data);
    VL53L1X_ERROR VL53L1_RdByte(VL53L1_DEV dev, uint16_t index, uint8_t *data);
    VL53L1X_ERROR VL53L1_RdWord(VL53L1_DEV dev, uint16_t index, uint16_t *data);
    VL53L1X_ERROR VL53L1_RdDWord(VL53L1_DEV dev, uint16_t index, uint32_t *data);
    VL53L1X_ERROR VL53L1_UpdateByte(VL53L1_DEV dev, uint16_t index, uint8_t AndData, uint8_t OrData);

    VL53L1X_ERROR VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint8_t count);
    VL53L1X_ERROR VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint8_t count);

    VL53L1X_ERROR VL53L1_I2CWrite(uint8_t dev, uint16_t index, uint8_t *data, uint8_t number_of_bytes);
    VL53L1X_ERROR VL53L1_I2CRead(uint8_t dev, uint16_t index, uint8_t *data, uint8_t number_of_bytes);
    VL53L1X_ERROR VL53L1_GetTickCount(uint32_t *ptick_count_ms);
    VL53L1X_ERROR VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us);
    VL53L1X_ERROR VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms);

    VL53L1X_ERROR VL53L1_WaitValueMaskEx(VL53L1_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask,
            uint32_t poll_delay_ms);

    VL53L1_DEV Device;

protected:

#if !(defined(__AVR__) && defined(USE_SOFT_I2C_MASTER))
    /* IO Device */
    TwoWire *dev_i2c;
#endif
    /* Digital out pin */
    int gpio0;
    int gpio1Int;
    /* Device data */
    VL53L1_Dev_t MyDevice;

};

#endif /* _VL53L1X_CLASS_H_ */
