/******************************************************************************
 * SparkFun_VL6180X.h
 * Library for VL6180x time of flight range finder.
 * Casey Kuhns @ SparkFun Electronics
 * 10/29/2014
 * https://github.com/sparkfun/SparkFun_ToF_Range_Finder-VL6180_Arduino_Library
 *
 * The VL6180x by ST micro is a time of flight range finder that
 * uses pulsed IR light to determine distances from object at close
 * range.  The average range of a sensor is between 0-200mm
 *
 * In this file are the function prototypes in the VL6180x class
 *
 * Resources:
 * This library uses the Arduino Wire.h to complete I2C transactions.
 *
 * Development environment specifics:
 * 	IDE: Arduino 1.0.5
 * 	Hardware Platform: Arduino Pro 3.3V/8MHz
 * 	VL6180x Breakout Version: 1.0

 **Updated for Arduino 1.6.4 5/2015**
 *
 * Some settings and initial values come from code written by Kris Winer
 * VL6180X_t3 Basic Example Code
 * by: Kris Winer
 * date: September 1, 2014
 * license: Beerware - Use this code however you'd like. If you
 * find it useful you can buy me a beer some time.
 *
 * This code is beerware. If you see me (or any other SparkFun employee) at the
 * local pub, and you've found our code helpful, please buy us a round!
 *
 * Distributed as-is; no warranty is given.
 ******************************************************************************/

#ifndef SparkFun_VL6180X_h
#define SparkFun_VL6180X_h

#include <Arduino.h>

#define VL6180x_FAILURE_RESET -1

#define VL6180X_IDENTIFICATION_MODEL_ID 0x0000
#define VL6180X_IDENTIFICATION_MODEL_REV_MAJOR 0x0001
#define VL6180X_IDENTIFICATION_MODEL_REV_MINOR 0x0002
#define VL6180X_IDENTIFICATION_MODULE_REV_MAJOR 0x0003
#define VL6180X_IDENTIFICATION_MODULE_REV_MINOR 0x0004
#define VL6180X_IDENTIFICATION_DATE 0x0006 // 16bit value
#define VL6180X_IDENTIFICATION_TIME 0x0008 // 16bit value

#define VL6180X_SYSTEM_MODE_GPIO0 0x0010
#define VL6180X_SYSTEM_MODE_GPIO1 0x0011
#define VL6180X_SYSTEM_HISTORY_CTRL 0x0012
#define VL6180X_SYSTEM_INTERRUPT_CONFIG_GPIO 0x0014
#define VL6180X_SYSTEM_INTERRUPT_CLEAR 0x0015
#define VL6180X_SYSTEM_FRESH_OUT_OF_RESET 0x0016
#define VL6180X_SYSTEM_GROUPED_PARAMETER_HOLD 0x0017

#define VL6180X_SYSRANGE_START 0x0018
#define VL6180X_SYSRANGE_THRESH_HIGH 0x0019
#define VL6180X_SYSRANGE_THRESH_LOW 0x001A
#define VL6180X_SYSRANGE_INTERMEASUREMENT_PERIOD 0x001B
#define VL6180X_SYSRANGE_MAX_CONVERGENCE_TIME 0x001C
#define VL6180X_SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x001E
#define VL6180X_SYSRANGE_CROSSTALK_VALID_HEIGHT 0x0021
#define VL6180X_SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x0022
#define VL6180X_SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x0024
#define VL6180X_SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x0025
#define VL6180X_SYSRANGE_RANGE_IGNORE_THRESHOLD 0x0026
#define VL6180X_SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x002C
#define VL6180X_SYSRANGE_RANGE_CHECK_ENABLES 0x002D
#define VL6180X_SYSRANGE_VHV_RECALIBRATE 0x002E
#define VL6180X_SYSRANGE_VHV_REPEAT_RATE 0x0031

#define VL6180X_SYSALS_START 0x0038
#define VL6180X_SYSALS_THRESH_HIGH 0x003A
#define VL6180X_SYSALS_THRESH_LOW 0x003C
#define VL6180X_SYSALS_INTERMEASUREMENT_PERIOD 0x003E
#define VL6180X_SYSALS_ANALOGUE_GAIN 0x003F
#define VL6180X_SYSALS_INTEGRATION_PERIOD 0x0040

#define VL6180X_RESULT_RANGE_STATUS 0x004D
#define VL6180X_RESULT_ALS_STATUS 0x004E
#define VL6180X_RESULT_INTERRUPT_STATUS_GPIO 0x004F
#define VL6180X_RESULT_ALS_VAL 0x0050
#define VL6180X_RESULT_HISTORY_BUFFER 0x0052
#define VL6180X_RESULT_RANGE_VAL 0x0062
#define VL6180X_RESULT_RANGE_RAW 0x0064
#define VL6180X_RESULT_RANGE_RETURN_RATE 0x0066
#define VL6180X_RESULT_RANGE_REFERENCE_RATE 0x0068
#define VL6180X_RESULT_RANGE_RETURN_SIGNAL_COUNT 0x006C
#define VL6180X_RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x0070
#define VL6180X_RESULT_RANGE_RETURN_AMB_COUNT 0x0074
#define VL6180X_RESULT_RANGE_REFERENCE_AMB_COUNT 0x0078
#define VL6180X_RESULT_RANGE_RETURN_CONV_TIME 0x007C
#define VL6180X_RESULT_RANGE_REFERENCE_CONV_TIME 0x0080

#define VL6180X_READOUT_AVERAGING_SAMPLE_PERIOD 0x010A
#define VL6180X_FIRMWARE_BOOTUP 0x0119
#define VL6180X_FIRMWARE_RESULT_SCALER 0x0120
#define VL6180X_I2C_SLAVE_DEVICE_ADDRESS 0x0212
#define VL6180X_INTERLEAVED_MODE_ENABLE 0x02A3

enum vl6180x_als_gain
{ // Data sheet shows gain values as binary list

  GAIN_20 = 0, // Actual ALS Gain of 20
  GAIN_10,     // Actual ALS Gain of 10.32
  GAIN_5,      // Actual ALS Gain of 5.21
  GAIN_2_5,    // Actual ALS Gain of 2.60
  GAIN_1_67,   // Actual ALS Gain of 1.72
  GAIN_1_25,   // Actual ALS Gain of 1.28
  GAIN_1,      // Actual ALS Gain of 1.01
  GAIN_40,     // Actual ALS Gain of 40

};

struct VL6180xIdentification
{
  uint8_t idModel;
  uint8_t idModelRevMajor;
  uint8_t idModelRevMinor;
  uint8_t idModuleRevMajor;
  uint8_t idModuleRevMinor;
  uint16_t idDate;
  uint16_t idTime;
};

class VL6180x
{
public:
  // Initalize library with default address
  VL6180x(uint8_t address);
  // Send manditory settings as stated in ST datasheet.
  //  http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf (Section 1.3)
  uint8_t VL6180xInit(void);
  // Use default settings from ST data sheet section 9.
  // http://www.st.com/st-web-ui/static/active/en/resource/technical/document/application_note/DM00122600.pdf
  void VL6180xDefautSettings(void);

  // Get Range distance in (mm)
  uint8_t getDistance();
  // Get ALS level in Lux
  float getAmbientLight(vl6180x_als_gain VL6180X_ALS_GAIN);

  // Load structure provided by the user with identification info
  // Structure example:
  //  struct VL6180xIdentification
  //   {
  //    uint8_t idModel;
  //    uint8_t idModelRevMajor;
  //    uint8_t idModelRevMinor;
  //    uint8_t idModuleRevMajor;
  //    uint8_t idModuleRevMinor;
  //    uint16_t idDate;
  //    uint16_t idTime;
  //    };
  void getIdentification(struct VL6180xIdentification *temp);

  // Change the default address of the device to allow multiple
  // sensors on the bus.  Can use up to 127 sensors. New address
  // is saved in non-volatile device memory.
  uint8_t changeAddress(uint8_t old_address, uint8_t new_address);

private:
  // Store address given when the class is initialized.
  // This value can be changed by the changeAddress() function
  int _i2caddress;

  uint8_t VL6180x_getRegister(uint16_t registerAddr);
  uint16_t VL6180x_getRegister16bit(uint16_t registerAddr);

  void VL6180x_setRegister(uint16_t registerAddr, uint8_t data);
  void VL6180x_setRegister16bit(uint16_t registerAddr, uint16_t data);
};

#endif
