/**
 ******************************************************************************
 * @file    vl53l0x_class.cpp
 * @author  IMG
 * @version V0.0.1
 * @date    14-December-2018
 * @brief   Implementation file for the VL53L1X driver class
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; COPYRIGHT(c) 2018 STMicroelectronics</center></h2>
 *
 * Redistribution and use in source and binary forms, with or without modification,
 * are permitted provided that the following conditions are met:
 *   1. Redistributions of source code must retain the above copyright notice,
 *      this list of conditions and the following disclaimer.
 *   2. Redistributions in binary form must reproduce the above copyright notice,
 *      this list of conditions and the following disclaimer in the documentation
 *      and/or other materials provided with the distribution.
 *   3. Neither the name of STMicroelectronics nor the names of its contributors
 *      may be used to endorse or promote products derived from this software
 *      without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 ******************************************************************************
 */

/* Includes */
#include <stdlib.h>
#include "Arduino.h"
#include "vl53l1x_class.h"

#define ALGO__PART_TO_PART_RANGE_OFFSET_MM	0x001E
#define MM_CONFIG__INNER_OFFSET_MM			0x0020
#define MM_CONFIG__OUTER_OFFSET_MM 			0x0022

//#define DEBUG_MODE

const uint8_t VL51L1X_DEFAULT_CONFIGURATION[] = { 0x00, /* 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), else don't touch */
0x01, /* 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
0x01, /* 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
0x01, /* 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low (bits 3:0 must be 0x1), use SetInterruptPolarity() */
0x02, /* 0x31 : bit 1 = interrupt depending on the polarity, use CheckForDataReady() */
0x00, /* 0x32 : not user-modifiable */
0x02, /* 0x33 : not user-modifiable */
0x08, /* 0x34 : not user-modifiable */
0x00, /* 0x35 : not user-modifiable */
0x08, /* 0x36 : not user-modifiable */
0x10, /* 0x37 : not user-modifiable */
0x01, /* 0x38 : not user-modifiable */
0x01, /* 0x39 : not user-modifiable */
0x00, /* 0x3a : not user-modifiable */
0x00, /* 0x3b : not user-modifiable */
0x00, /* 0x3c : not user-modifiable */
0x00, /* 0x3d : not user-modifiable */
0xff, /* 0x3e : not user-modifiable */
0x00, /* 0x3f : not user-modifiable */
0x0F, /* 0x40 : not user-modifiable */
0x00, /* 0x41 : not user-modifiable */
0x00, /* 0x42 : not user-modifiable */
0x00, /* 0x43 : not user-modifiable */
0x00, /* 0x44 : not user-modifiable */
0x00, /* 0x45 : not user-modifiable */
0x20, /* 0x46 : interrupt configuration 0->level low detection, 1-> level high, 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC */
0x0b, /* 0x47 : not user-modifiable */
0x00, /* 0x48 : not user-modifiable */
0x00, /* 0x49 : not user-modifiable */
0x02, /* 0x4a : not user-modifiable */
0x0a, /* 0x4b : not user-modifiable */
0x21, /* 0x4c : not user-modifiable */
0x00, /* 0x4d : not user-modifiable */
0x00, /* 0x4e : not user-modifiable */
0x05, /* 0x4f : not user-modifiable */
0x00, /* 0x50 : not user-modifiable */
0x00, /* 0x51 : not user-modifiable */
0x00, /* 0x52 : not user-modifiable */
0x00, /* 0x53 : not user-modifiable */
0xc8, /* 0x54 : not user-modifiable */
0x00, /* 0x55 : not user-modifiable */
0x00, /* 0x56 : not user-modifiable */
0x38, /* 0x57 : not user-modifiable */
0xff, /* 0x58 : not user-modifiable */
0x01, /* 0x59 : not user-modifiable */
0x00, /* 0x5a : not user-modifiable */
0x08, /* 0x5b : not user-modifiable */
0x00, /* 0x5c : not user-modifiable */
0x00, /* 0x5d : not user-modifiable */
0x01, /* 0x5e : not user-modifiable */
0xdb, /* 0x5f : not user-modifiable */
0x0f, /* 0x60 : not user-modifiable */
0x01, /* 0x61 : not user-modifiable */
0xf1, /* 0x62 : not user-modifiable */
0x0d, /* 0x63 : not user-modifiable */
0x01, /* 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), use SetSigmaThreshold(), default value 90 mm  */
0x68, /* 0x65 : Sigma threshold LSB */
0x00, /* 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB), use SetSignalThreshold() */
0x80, /* 0x67 : Min count Rate LSB */
0x08, /* 0x68 : not user-modifiable */
0xb8, /* 0x69 : not user-modifiable */
0x00, /* 0x6a : not user-modifiable */
0x00, /* 0x6b : not user-modifiable */
0x00, /* 0x6c : Intermeasurement period MSB, 32 bits register, use SetIntermeasurementInMs() */
0x00, /* 0x6d : Intermeasurement period */
0x0f, /* 0x6e : Intermeasurement period */
0x89, /* 0x6f : Intermeasurement period LSB */
0x00, /* 0x70 : not user-modifiable */
0x00, /* 0x71 : not user-modifiable */
0x00, /* 0x72 : distance threshold high MSB (in mm, MSB+LSB), use SetD:tanceThreshold() */
0x00, /* 0x73 : distance threshold high LSB */
0x00, /* 0x74 : distance threshold low MSB ( in mm, MSB+LSB), use SetD:tanceThreshold() */
0x00, /* 0x75 : distance threshold low LSB */
0x00, /* 0x76 : not user-modifiable */
0x01, /* 0x77 : not user-modifiable */
0x0f, /* 0x78 : not user-modifiable */
0x0d, /* 0x79 : not user-modifiable */
0x0e, /* 0x7a : not user-modifiable */
0x0e, /* 0x7b : not user-modifiable */
0x00, /* 0x7c : not user-modifiable */
0x00, /* 0x7d : not user-modifiable */
0x02, /* 0x7e : not user-modifiable */
0xc7, /* 0x7f : ROI center, use SetROI() */
0xff, /* 0x80 : XY ROI (X=Width, Y=Height), use SetROI() */
0x9B, /* 0x81 : not user-modifiable */
0x00, /* 0x82 : not user-modifiable */
0x00, /* 0x83 : not user-modifiable */
0x00, /* 0x84 : not user-modifiable */
0x01, /* 0x85 : not user-modifiable */
0x00, /* 0x86 : clear interrupt, use ClearInterrupt() */
0x00 /* 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */
};

/* VL53L1X_api.h functions */

VL53L1X_ERROR VL53L1X::VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion) {
    VL53L1X_ERROR Status = 0;

    pVersion->major = VL53L1X_IMPLEMENTATION_VER_MAJOR;
    pVersion->minor = VL53L1X_IMPLEMENTATION_VER_MINOR;
    pVersion->build = VL53L1X_IMPLEMENTATION_VER_SUB;
    pVersion->revision = VL53L1X_IMPLEMENTATION_VER_REVISION;
    return Status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetI2CAddress(uint8_t new_address) {
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(Device, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1);
    Device->I2cDevAddr = new_address;

    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SensorInit() {
    VL53L1X_ERROR status = 0;
    uint8_t Addr = 0x00, tmp = 0, timeout = 0;

    for (Addr = 0x2D; Addr <= 0x87; Addr++) {
        status = VL53L1_WrByte(Device, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]);
    }
    status = VL53L1X_StartRanging();
    while (tmp == 0) {
        status = VL53L1X_CheckForDataReady(&tmp);
        timeout++;
        if (timeout > 50) {
            status = VL53L1_ERROR_TIME_OUT;
            return status;
        }
    }
    tmp = 0;
    status = VL53L1X_ClearInterrupt();
    status = VL53L1X_StopRanging();
    status = VL53L1_WrByte(Device, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
    status = VL53L1_WrByte(Device, 0x0B, 0); /* start VHV from the previous temperature */
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_ClearInterrupt() {
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CLEAR, 0x01);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetInterruptPolarity(uint8_t NewPolarity) {
    uint8_t Temp;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdByte(Device, GPIO_HV_MUX__CTRL, &Temp);
    Temp = Temp & 0xEF;
    status = VL53L1_WrByte(Device, GPIO_HV_MUX__CTRL, Temp | (!(NewPolarity & 1)) << 4);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetInterruptPolarity(uint8_t *pInterruptPolarity) {
    uint8_t Temp;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdByte(Device, GPIO_HV_MUX__CTRL, &Temp);
    Temp = Temp & 0x10;
    *pInterruptPolarity = !(Temp >> 4);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_StartRanging() {
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x40); /* Enable VL53L1X */
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_StopRanging() {
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrByte(Device, SYSTEM__MODE_START, 0x00); /* Disable VL53L1X */
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_CheckForDataReady(uint8_t *isDataReady) {
    uint8_t Temp;
//	uint8_t IntPol;
    VL53L1X_ERROR status = 0;

//	status = VL53L1X_GetInterruptPolarity(&IntPol);
    status = VL53L1_RdByte(Device, GPIO__TIO_HV_STATUS, &Temp);
    /* Read in the register to check if a new value is available */
    if (status == 0) {
//        if ((Temp & 1) == IntPol)
        *isDataReady = Temp & 1;
//		else
//			*isDataReady = 0;
    }
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetTimingBudgetInMs(uint16_t TimingBudgetInMs) {
//	uint16_t DM;
    VL53L1X_ERROR status = 0;

//	status = VL53L1X_GetDistanceMode(&DM);
//	if (DM == 0)
//		return 1;
//	else if (DM == 1) {	/* Short DistanceMode */
    switch (TimingBudgetInMs) {
//		case 15: /* only available in short distance mode */
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x01D);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x0027);
//			break;
    case 20:
        VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x0051);
        VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x006E);
        break;
    case 33:
        VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x00D6);
        VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x006E);
        break;
    case 50:
        VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, 0x1AE);
        VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI, 0x01E8);
        break;
//		case 100:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x02E1);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x0388);
//			break;
//		case 200:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x03E1);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x0496);
//			break;
//		case 500:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x0591);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x05C1);
//			break;
//		default:
//			status = 1;
//			break;
    }
//	} else {
//		switch (TimingBudgetInMs) {
//		case 20:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x001E);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x0022);
//			break;
//		case 33:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x0060);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x006E);
//			break;
//		case 50:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x00AD);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x00C6);
//			break;
//		case 100:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x01CC);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x01EA);
//			break;
//		case 200:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x02D9);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x02F8);
//			break;
//		case 500:
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
//					0x048F);
//			VL53L1_WrWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
//					0x04A4);
//			break;
//		default:
//			status = 1;
//			break;
//		}
//	}
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetTimingBudgetInMs(uint16_t *pTimingBudget) {
    uint16_t Temp;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdWord(Device, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, &Temp);
    switch (Temp) {
    case 0x001D:
        *pTimingBudget = 15;
        break;
    case 0x0051:
    case 0x001E:
        *pTimingBudget = 20;
        break;
    case 0x00D6:
    case 0x0060:
        *pTimingBudget = 33;
        break;
    case 0x1AE:
    case 0x00AD:
        *pTimingBudget = 50;
        break;
    case 0x02E1:
    case 0x01CC:
        *pTimingBudget = 100;
        break;
    case 0x03E1:
    case 0x02D9:
        *pTimingBudget = 200;
        break;
    case 0x0591:
    case 0x048F:
        *pTimingBudget = 500;
        break;
    default:
        *pTimingBudget = 0;
        break;
    }
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetDistanceMode(uint16_t DM) {
    uint16_t TB;
    VL53L1X_ERROR status = 0;

    status = VL53L1X_GetTimingBudgetInMs(&TB);
    switch (DM) {
    case 1:
        status = VL53L1_WrByte(Device, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14);
        status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
        status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
        status = VL53L1_WrByte(Device, RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
        status = VL53L1_WrWord(Device, SD_CONFIG__WOI_SD0, 0x0705);
        status = VL53L1_WrWord(Device, SD_CONFIG__INITIAL_PHASE_SD0, 0x0606);
        break;
    case 2:
        status = VL53L1_WrByte(Device, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A);
        status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
        status = VL53L1_WrByte(Device, RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
        status = VL53L1_WrByte(Device, RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
        status = VL53L1_WrWord(Device, SD_CONFIG__WOI_SD0, 0x0F0D);
        status = VL53L1_WrWord(Device, SD_CONFIG__INITIAL_PHASE_SD0, 0x0E0E);
        break;
    default:
        break;
    }
    status = VL53L1X_SetTimingBudgetInMs(TB);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceMode(uint16_t *DM) {
    uint8_t TempDM, status = 0;

    status = VL53L1_RdByte(Device, PHASECAL_CONFIG__TIMEOUT_MACROP, &TempDM);
    if (TempDM == 0x14)
        *DM = 1;
    if (TempDM == 0x0A)
        *DM = 2;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetInterMeasurementInMs(uint16_t InterMeasMs) {
    uint16_t ClockPLL;
    VL53L1X_ERROR status = 0;

    status = VL53L1_RdWord(Device, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
    ClockPLL = ClockPLL & 0x3FF;
    VL53L1_WrDWord(Device, VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD, (uint32_t) (ClockPLL * InterMeasMs * 1.075));
    return status;

}

VL53L1X_ERROR VL53L1X::VL53L1X_GetInterMeasurementInMs(uint16_t *pIM) {
    uint16_t ClockPLL;
    VL53L1X_ERROR status = 0;
    uint32_t tmp;

    status = VL53L1_RdDWord(Device, VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD, &tmp);
    *pIM = (uint16_t) tmp;
    status = VL53L1_RdWord(Device, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
    ClockPLL = ClockPLL & 0x3FF;
    *pIM = (uint16_t) (*pIM / (ClockPLL * 1.065));
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_BootState(uint8_t *state) {
    VL53L1X_ERROR status = 0;
    uint8_t tmp = 0;

    status = VL53L1_RdByte(Device, VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp);
    *state = tmp;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetSensorId(uint16_t *sensorId) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp = 0;

    status = VL53L1_RdWord(Device, VL53L1_IDENTIFICATION__MODEL_ID, &tmp);
    *sensorId = tmp;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetDistance(uint16_t *distance) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = (VL53L1_RdWord(Device,
    VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp));
    *distance = tmp;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetSignalPerSpad(uint16_t *signalRate) {
    VL53L1X_ERROR status = 0;
    uint16_t SpNb = 1, signal;

    status = VL53L1_RdWord(Device,
    VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &signal);
    status = VL53L1_RdWord(Device,
    VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
    *signalRate = (uint16_t) (2000.0 * signal / SpNb);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetAmbientPerSpad(uint16_t *ambPerSp) {
    VL53L1X_ERROR status = 0;
    uint16_t AmbientRate, SpNb = 1;

    status = VL53L1_RdWord(Device, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &AmbientRate);
    status = VL53L1_RdWord(Device, VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
    *ambPerSp = (uint16_t) (2000.0 * AmbientRate / SpNb);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetSignalRate(uint16_t *signal) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device,
    VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &tmp);
    *signal = tmp * 8;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetSpadNb(uint16_t *spNb) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device,
    VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &tmp);
    *spNb = tmp >> 8;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetAmbientRate(uint16_t *ambRate) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &tmp);
    *ambRate = tmp * 8;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetRangeStatus(uint8_t *rangeStatus) {
    VL53L1X_ERROR status = 0;
    uint8_t RgSt;

    status = VL53L1_RdByte(Device, VL53L1_RESULT__RANGE_STATUS, &RgSt);
    RgSt = RgSt & 0x1F;
    switch (RgSt) {
    case 9:
        RgSt = 0;
        break;
    case 6:
        RgSt = 1;
        break;
    case 4:
        RgSt = 2;
        break;
    case 8:
        RgSt = 3;
        break;
    case 5:
        RgSt = 4;
        break;
    case 3:
        RgSt = 5;
        break;
    case 19:
        RgSt = 6;
        break;
    case 7:
        RgSt = 7;
        break;
    case 12:
        RgSt = 9;
        break;
    case 18:
        RgSt = 10;
        break;
    case 22:
        RgSt = 11;
        break;
    case 23:
        RgSt = 12;
        break;
    case 13:
        RgSt = 13;
        break;
    default:
        RgSt = 255;
        break;
    }
    *rangeStatus = RgSt;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetOffset(int16_t OffsetValue) {
    VL53L1X_ERROR status = 0;
    int16_t Temp;

    Temp = (OffsetValue * 4);
    VL53L1_WrWord(Device, ALGO__PART_TO_PART_RANGE_OFFSET_MM, (uint16_t) Temp);
    VL53L1_WrWord(Device, MM_CONFIG__INNER_OFFSET_MM, 0x0);
    VL53L1_WrWord(Device, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetOffset(int16_t *offset) {
    VL53L1X_ERROR status = 0;
    uint16_t Temp;

    status = VL53L1_RdWord(Device, ALGO__PART_TO_PART_RANGE_OFFSET_MM, &Temp);
    Temp = Temp << 3;
    Temp = Temp >> 5;
    *offset = (int16_t) (Temp);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetXtalk(uint16_t XtalkValue) {
    /* XTalkValue in count per second to avoid float type */
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrWord(Device,
    ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS, 0x0000);
    status = VL53L1_WrWord(Device, ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS, 0x0000);
    status = VL53L1_WrWord(Device, ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, (XtalkValue << 9) / 1000); /* * << 9 (7.9 format) and /1000 to convert cps to kpcs */
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetXtalk(uint16_t *xtalk) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device, ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, &tmp);
    *xtalk = (tmp * 1000) >> 9; /* * 1000 to convert kcps to cps and >> 9 (7.9 format) */
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetDistanceThreshold(uint16_t ThreshLow, uint16_t ThreshHigh, uint8_t Window,
        uint8_t IntOnNoTarget) {
    VL53L1X_ERROR status = 0;
    uint8_t Temp = 0;

    status = VL53L1_RdByte(Device, SYSTEM__INTERRUPT_CONFIG_GPIO, &Temp);
    Temp = Temp & 0x47;
    if (IntOnNoTarget == 0) {
        status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CONFIG_GPIO, (Temp | (Window & 0x07)));
    } else {
        status = VL53L1_WrByte(Device, SYSTEM__INTERRUPT_CONFIG_GPIO, ((Temp | (Window & 0x07)) | 0x40));
    }
    status = VL53L1_WrWord(Device, SYSTEM__THRESH_HIGH, ThreshHigh);
    status = VL53L1_WrWord(Device, SYSTEM__THRESH_LOW, ThreshLow);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceThresholdWindow(uint16_t *window) {
    VL53L1X_ERROR status = 0;
    uint8_t tmp;
    status = VL53L1_RdByte(Device, SYSTEM__INTERRUPT_CONFIG_GPIO, &tmp);
    *window = (uint16_t) (tmp & 0x7);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceThresholdLow(uint16_t *low) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device, SYSTEM__THRESH_LOW, &tmp);
    *low = tmp;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetDistanceThresholdHigh(uint16_t *high) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device, SYSTEM__THRESH_HIGH, &tmp);
    *high = tmp;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetROI(uint8_t X, uint8_t Y, uint8_t opticalCenter) {
    VL53L1X_ERROR status = 0;

    if (X > 16)
        X = 16;
    if (Y > 16)
        Y = 16;
    if (X > 10 || Y > 10) {
        opticalCenter = 199;
    }
    status = VL53L1_WrByte(Device, ROI_CONFIG__USER_ROI_CENTRE_SPAD, opticalCenter);
    status = VL53L1_WrByte(Device, ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, (Y - 1) << 4 | (X - 1));
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetROI_XY(uint16_t *ROI_X, uint16_t *ROI_Y) {
    VL53L1X_ERROR status = 0;
    uint8_t tmp;

    status = VL53L1_RdByte(Device, ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, &tmp);
    *ROI_X = ((uint16_t) tmp & 0x0F) + 1;
    *ROI_Y = (((uint16_t) tmp & 0xF0) >> 4) + 1;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetSignalThreshold(uint16_t Signal) {
    VL53L1X_ERROR status = 0;

    VL53L1_WrWord(Device, RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, Signal >> 3);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetSignalThreshold(uint16_t *signal) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device,
    RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, &tmp);
    *signal = tmp << 3;
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_SetSigmaThreshold(uint16_t Sigma) {
    VL53L1X_ERROR status = 0;

    if (Sigma > (0xFFFF >> 2)) {
        return 1;
    }
    /* 16 bits register 14.2 format */
    status = VL53L1_WrWord(Device, RANGE_CONFIG__SIGMA_THRESH, Sigma << 2);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1X_GetSigmaThreshold(uint16_t *sigma) {
    VL53L1X_ERROR status = 0;
    uint16_t tmp;

    status = VL53L1_RdWord(Device, RANGE_CONFIG__SIGMA_THRESH, &tmp);
    *sigma = tmp >> 2;
    return status;

}

VL53L1X_ERROR VL53L1X::VL53L1X_StartTemperatureUpdate() {
    VL53L1X_ERROR status = 0;
    uint8_t tmp = 0;

    status = VL53L1_WrByte(Device, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x81); /* full VHV */
    status = VL53L1_WrByte(Device, 0x0B, 0x92);
    status = VL53L1X_StartRanging();
    while (tmp == 0) {
        status = VL53L1X_CheckForDataReady(&tmp);
    }
    tmp = 0;
    status = VL53L1X_ClearInterrupt();
    status = VL53L1X_StopRanging();
    status = VL53L1_WrByte(Device, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
    status = VL53L1_WrByte(Device, 0x0B, 0); /* start VHV from the previous temperature */
    return status;
}

/* VL53L1X_calibration.h functions */

int8_t VL53L1X::VL53L1X_CalibrateOffset(uint16_t TargetDistInMm, int16_t *offset) {
    uint8_t i = 0, tmp;
    int16_t AverageDistance = 0;
    uint16_t distance;
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrWord(Device, ALGO__PART_TO_PART_RANGE_OFFSET_MM, 0x0);
    status = VL53L1_WrWord(Device, MM_CONFIG__INNER_OFFSET_MM, 0x0);
    status = VL53L1_WrWord(Device, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
    status = VL53L1X_StartRanging(); /* Enable VL53L1X sensor */
    for (i = 0; i < 50; i++) {
        while (tmp == 0) {
            status = VL53L1X_CheckForDataReady(&tmp);
        }
        tmp = 0;
        status = VL53L1X_GetDistance(&distance);
        status = VL53L1X_ClearInterrupt();
        AverageDistance = AverageDistance + distance;
    }
    status = VL53L1X_StopRanging();
    AverageDistance = AverageDistance / 50;
    *offset = TargetDistInMm - AverageDistance;
    status = VL53L1_WrWord(Device, ALGO__PART_TO_PART_RANGE_OFFSET_MM, *offset * 4);
    return status;
}

int8_t VL53L1X::VL53L1X_CalibrateXtalk(uint16_t TargetDistInMm, uint16_t *xtalk) {
    uint8_t i, tmp = 0;
    float AverageSignalRate = 0;
    float AverageDistance = 0;
    float AverageSpadNb = 0;
    uint16_t distance = 0, spadNum;
    uint16_t sr;
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrWord(Device, 0x0016, 0);
    status = VL53L1X_StartRanging();
    for (i = 0; i < 50; i++) {
        while (tmp == 0) {
            status = VL53L1X_CheckForDataReady(&tmp);
        }
        tmp = 0;
        status = VL53L1X_GetSignalRate(&sr);
        status = VL53L1X_GetDistance(&distance);
        status = VL53L1X_ClearInterrupt();
        AverageDistance = AverageDistance + distance;
        status = VL53L1X_GetSpadNb(&spadNum);
        AverageSpadNb = AverageSpadNb + spadNum;
        AverageSignalRate = AverageSignalRate + sr;
    }
    status = VL53L1X_StopRanging();
    AverageDistance = AverageDistance / 50;
    AverageSpadNb = AverageSpadNb / 50;
    AverageSignalRate = AverageSignalRate / 50;
    /* Calculate Xtalk value */
    *xtalk = (uint16_t) (512 * (AverageSignalRate * (1 - (AverageDistance / TargetDistInMm))) / AverageSpadNb);
    status = VL53L1_WrWord(Device, 0x0016, *xtalk);
    return status;
}

/* Write and read functions from I2C */

VL53L1X_ERROR VL53L1X::VL53L1_WriteMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint8_t count) {
    int status;

    status = VL53L1_I2CWrite(Dev->I2cDevAddr, index, pdata, count);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint8_t count) {
    int status;

    status = VL53L1_I2CRead(Dev->I2cDevAddr, index, pdata, count);

    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1_WrByte(VL53L1_DEV Dev, uint16_t index, uint8_t data) {
    int status;

    status = VL53L1_I2CWrite(Dev->I2cDevAddr, index, &data, 1);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1_WrWord(VL53L1_DEV Dev, uint16_t index, uint16_t data) {
    int status;
    uint8_t buffer[2];

    buffer[0] = data >> 8;
    buffer[1] = data & 0x00FF;
    status = VL53L1_I2CWrite(Dev->I2cDevAddr, index, (uint8_t*) buffer, 2);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1_WrDWord(VL53L1_DEV Dev, uint16_t index, uint32_t data) {
    int status;
    uint8_t buffer[4];

    buffer[0] = (data >> 24) & 0xFF;
    buffer[1] = (data >> 16) & 0xFF;
    buffer[2] = (data >> 8) & 0xFF;
    buffer[3] = (data >> 0) & 0xFF;
    status = VL53L1_I2CWrite(Dev->I2cDevAddr, index, (uint8_t*) buffer, 4);
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1_RdByte(VL53L1_DEV Dev, uint16_t index, uint8_t *data) {
    int status;

    status = VL53L1_I2CRead(Dev->I2cDevAddr, index, data, 1);

    if (status)
        return -1;

    return 0;
}

VL53L1X_ERROR VL53L1X::VL53L1_RdWord(VL53L1_DEV Dev, uint16_t index, uint16_t *data) {
    int status;
    uint8_t buffer[2] = { 0, 0 };

    status = VL53L1_I2CRead(Dev->I2cDevAddr, index, buffer, 2);
    if (!status) {
        *data = (buffer[0] << 8) + buffer[1];
    }
    return status;

}

VL53L1X_ERROR VL53L1X::VL53L1_RdDWord(VL53L1_DEV Dev, uint16_t index, uint32_t *data) {
    int status;
    uint8_t buffer[4] = { 0, 0, 0, 0 };

    status = VL53L1_I2CRead(Dev->I2cDevAddr, index, buffer, 4);
    if (!status) {
        *data = ((uint32_t) buffer[0] << 24) + ((uint32_t) buffer[1] << 16) + ((uint16_t) buffer[2] << 8) + buffer[3];
    }
    return status;

}

VL53L1X_ERROR VL53L1X::VL53L1_UpdateByte(VL53L1_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData) {
    int status;
    uint8_t buffer = 0;

    /* read data direct onto buffer */
    status = VL53L1_I2CRead(Dev->I2cDevAddr, index, &buffer, 1);
    if (!status) {
        buffer = (buffer & AndData) | OrData;
        status = VL53L1_I2CWrite(Dev->I2cDevAddr, index, &buffer, 1);
    }
    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint8_t NumByteToWrite) {
#if defined(DEBUG_MODE)
   Serial.print("Beginning transmission to ");
   Serial.println(((DeviceAddr) >> 1) & 0x7F);
   Serial.print("Writing port number ");
   Serial.println(RegisterAddr);
#endif
#if defined(__AVR__) && defined(USE_SOFT_I2C_MASTER)
//    i2c_write_buffer_to_16bit_register(DeviceAddr, RegisterAddr, pBuffer, NumByteToWrite); // unbelievable, but call costs 140 bytes (does it crash the optimizer?)
    i2c_start(DeviceAddr);
    i2c_write(RegisterAddr >> 8);
    i2c_write(RegisterAddr & 0xFF);
    for (uint8_t i = 0; i < NumByteToWrite; i++) {
        i2c_write(pBuffer[i]);
    }
    i2c_stop();
#else

    dev_i2c->beginTransmission(((uint8_t) (((DeviceAddr) >> 1) & 0x7F)));

    uint8_t buffer[2];
    buffer[0] = (uint8_t) RegisterAddr >> 8;
    buffer[1] = (uint8_t) RegisterAddr & 0xFF;
    dev_i2c->write(buffer, 2);
    for (uint8_t i = 0; i < NumByteToWrite; i++)
        dev_i2c->write(pBuffer[i]);

    uint8_t tStatus = dev_i2c->endTransmission(true);
    if (tStatus != 0) {
        return 1;
    }
#endif // defined(__AVR__) && defined(USE_SOFT_I2C_MASTER)
    return 0;
}

VL53L1X_ERROR VL53L1X::VL53L1_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint8_t NumByteToRead) {
//Loop until the port is transmitted correctly
#if defined(DEBUG_MODE)
   Serial.print("Beginning transmission to ");
   Serial.println(((DeviceAddr) >> 1) & 0x7F);
   Serial.print("Writing port number ");
   Serial.println(RegisterAddr);
#endif

#if defined(__AVR__) && defined(USE_SOFT_I2C_MASTER)
   i2c_read_buffer_from_16bit_register(DeviceAddr, RegisterAddr, pBuffer, NumByteToRead); // call saves 28 bytes
//
//    i2c_start(DeviceAddr);
//    i2c_write(RegisterAddr >> 8);
//    i2c_write(RegisterAddr & 0xFF);
//    i2c_rep_start((DeviceAddr) | I2C_READ); // restart for reading
//    int8_t i = 0;
//    for (; i < NumByteToRead - 1; ++i) {
//        pBuffer[i] = i2c_read(false);
//    }
//    pBuffer[i] = i2c_read(true);
#else
    int status = 0;
   do {
        uint8_t buffer[2];
        buffer[0] = (uint8_t) RegisterAddr >> 8;
        buffer[1] = (uint8_t) RegisterAddr & 0xFF;

        dev_i2c->beginTransmission(((uint8_t) (((DeviceAddr) >> 1) & 0x7F)));
        dev_i2c->write(buffer, 2);
        status = dev_i2c->endTransmission(false);
//Fix for some STM32 boards
//Reinitialize th i2c bus with the default parameters
#  if defined(ARDUINO_ARCH_STM32)
	if (status){
		dev_i2c->end();
		dev_i2c->begin();
		}
#  endif
//End of fix
    } while (status != 0);

    dev_i2c->requestFrom(((uint8_t) (((DeviceAddr) >> 1) & 0x7F)), (byte) NumByteToRead);

    uint8_t i = 0;
    while (dev_i2c->available()) {
        pBuffer[i] = dev_i2c->read();
        i++;
    }
#endif // defined(__AVR__) && defined(USE_SOFT_I2C_MASTER)
    return 0;
}

VL53L1X_ERROR VL53L1X::VL53L1_GetTickCount(uint32_t *ptick_count_ms) {

    /* Returns current tick count in [ms] */

    VL53L1X_ERROR status = VL53L1_ERROR_NONE;

    //*ptick_count_ms = timeGetTime();
    *ptick_count_ms = 0;

    return status;
}

VL53L1X_ERROR VL53L1X::VL53L1_WaitUs(VL53L1_Dev_t *pdev, int32_t wait_us) {
    (void) pdev;
    delay(wait_us / 1000);
    return VL53L1_ERROR_NONE;
}

VL53L1X_ERROR VL53L1X::VL53L1_WaitMs(VL53L1_Dev_t *pdev, int32_t wait_ms) {
    (void) pdev;
    delay(wait_ms);
    return VL53L1_ERROR_NONE;
}

VL53L1X_ERROR VL53L1X::VL53L1_WaitValueMaskEx(VL53L1_Dev_t *pdev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask,
        uint32_t poll_delay_ms) {

    /*
     * Platform implementation of WaitValueMaskEx V2WReg script command
     *
     * WaitValueMaskEx(
     *          duration_ms,
     *          index,
     *          value,
     *          mask,
     *          poll_delay_ms);
     */

    VL53L1_Error status = VL53L1_ERROR_NONE;
    uint32_t start_time_ms = 0;
    uint32_t current_time_ms = 0;
    uint32_t polling_time_ms = 0;
    uint8_t byte_value = 0;
    uint8_t found = 0;

    /* calculate time limit in absolute time */

    VL53L1_GetTickCount(&start_time_ms);

    /* remember current trace functions and temporarily disable
     * function logging
     */

    /* wait until value is found, timeout reached on error occurred */

    while ((status == VL53L1_ERROR_NONE) && (polling_time_ms < timeout_ms) && (found == 0)) {

        if (status == VL53L1_ERROR_NONE)
            status = VL53L1_RdByte(pdev, index, &byte_value);

        if ((byte_value & mask) == value)
            found = 1;

        if (status == VL53L1_ERROR_NONE && found == 0 && poll_delay_ms > 0)
            status = VL53L1_WaitMs(pdev, poll_delay_ms);

        /* Update polling time (Compare difference rather than absolute to
         negate 32bit wrap around issue) */
        VL53L1_GetTickCount(&current_time_ms);
        polling_time_ms = current_time_ms - start_time_ms;

    }

    if (found == 0 && status == VL53L1_ERROR_NONE)
        status = VL53L1_ERROR_TIME_OUT;

    return status;
}

