File content as of revision 2:022507164b8e:

#ifndef VL53L0X_H
#define VL53L0X_H

#include "mbed.h"


// Adresse I2C par défaut du capteur
#define ADDRESS_DEFAULT 0b0101001


/** Classe VL53L0X
 *  Librairie qui interface le capteur ToF VL53L0X.
 *  Sert à mesurer des distances.
 *
 *  Source: https://os.mbed.com/users/open4416/code/VL53L0X_STM32compatible/
 *  Adapté par: Charles Blanchard
 *
 *  Datasheet: https://www.st.com/resource/en/datasheet/vl53l0x.pdf
 *  Cible: STM32-F401RE
 *
 * Example:
 * @code
 * #include "mbed.h"
 * #include "VL53L0X.h"
 *
 * #define SDA_pin D14
 * #define SCL_pin D15
 *
 * VL53L0X sensor(SDA_pin,SCL_pin);
 *
 * Serial pc(SERIAL_TX, SERIAL_RX); //9600 bauds
 *
 * int main()
 * {
 *    uint32_t distance;
 *
 *     sensor.init();              //init SENSOR
 *     sensor.setTimeout(500);
 *     sensor.startContinuous();
 *
 *     while(1) {
 *         wait_ms(100);
 *         distance = sensor.readRangeContinuousMillimeters();
 *         pc.printf("%d\r\n", distance);
 *     }
 * }
 * @endcode
 */

class VL53L0X
{
public:
    // register addresses from API vl53l0x_device.h (ordered as listed there)
    enum regAddr {
        SYSRANGE_START                              = 0x00,

        SYSTEM_THRESH_HIGH                          = 0x0C,
        SYSTEM_THRESH_LOW                           = 0x0E,

        SYSTEM_SEQUENCE_CONFIG                      = 0x01,
        SYSTEM_RANGE_CONFIG                         = 0x09,
        SYSTEM_INTERMEASUREMENT_PERIOD              = 0x04,

        SYSTEM_INTERRUPT_CONFIG_GPIO                = 0x0A,

        GPIO_HV_MUX_ACTIVE_HIGH                     = 0x84,

        SYSTEM_INTERRUPT_CLEAR                      = 0x0B,

        RESULT_INTERRUPT_STATUS                     = 0x13,
        RESULT_RANGE_STATUS                         = 0x14,

        RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN       = 0xBC,
        RESULT_CORE_RANGING_TOTAL_EVENTS_RTN        = 0xC0,
        RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF       = 0xD0,
        RESULT_CORE_RANGING_TOTAL_EVENTS_REF        = 0xD4,
        RESULT_PEAK_SIGNAL_RATE_REF                 = 0xB6,

        ALGO_PART_TO_PART_RANGE_OFFSET_MM           = 0x28,

        I2C_SLAVE_DEVICE_ADDRESS                    = 0x8A,

        MSRC_CONFIG_CONTROL                         = 0x60,

        PRE_RANGE_CONFIG_MIN_SNR                    = 0x27,
        PRE_RANGE_CONFIG_VALID_PHASE_LOW            = 0x56,
        PRE_RANGE_CONFIG_VALID_PHASE_HIGH           = 0x57,
        PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT          = 0x64,

        FINAL_RANGE_CONFIG_MIN_SNR                  = 0x67,
        FINAL_RANGE_CONFIG_VALID_PHASE_LOW          = 0x47,
        FINAL_RANGE_CONFIG_VALID_PHASE_HIGH         = 0x48,
        FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,

        PRE_RANGE_CONFIG_SIGMA_THRESH_HI            = 0x61,
        PRE_RANGE_CONFIG_SIGMA_THRESH_LO            = 0x62,

        PRE_RANGE_CONFIG_VCSEL_PERIOD               = 0x50,
        PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI          = 0x51,
        PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO          = 0x52,

        SYSTEM_HISTOGRAM_BIN                        = 0x81,
        HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT       = 0x33,
        HISTOGRAM_CONFIG_READOUT_CTRL               = 0x55,

        FINAL_RANGE_CONFIG_VCSEL_PERIOD             = 0x70,
        FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI        = 0x71,
        FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO        = 0x72,
        CROSSTALK_COMPENSATION_PEAK_RATE_MCPS       = 0x20,

        MSRC_CONFIG_TIMEOUT_MACROP                  = 0x46,

        SOFT_RESET_GO2_SOFT_RESET_N                 = 0xBF,
        IDENTIFICATION_MODEL_ID                     = 0xC0,
        IDENTIFICATION_REVISION_ID                  = 0xC2,

        OSC_CALIBRATE_VAL                           = 0xF8,

        GLOBAL_CONFIG_VCSEL_WIDTH                   = 0x32,
        GLOBAL_CONFIG_SPAD_ENABLES_REF_0            = 0xB0,
        GLOBAL_CONFIG_SPAD_ENABLES_REF_1            = 0xB1,
        GLOBAL_CONFIG_SPAD_ENABLES_REF_2            = 0xB2,
        GLOBAL_CONFIG_SPAD_ENABLES_REF_3            = 0xB3,
        GLOBAL_CONFIG_SPAD_ENABLES_REF_4            = 0xB4,
        GLOBAL_CONFIG_SPAD_ENABLES_REF_5            = 0xB5,

        GLOBAL_CONFIG_REF_EN_START_SELECT           = 0xB6,
        DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD         = 0x4E,
        DYNAMIC_SPAD_REF_EN_START_OFFSET            = 0x4F,
        POWER_MANAGEMENT_GO1_POWER_FORCE            = 0x80,

        VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV           = 0x89,

        ALGO_PHASECAL_LIM                           = 0x30,
        ALGO_PHASECAL_CONFIG_TIMEOUT                = 0x30,
    };

    enum vcselPeriodType { VcselPeriodPreRange, VcselPeriodFinalRange };

    char last_status; // status of last I2C transmission

    VL53L0X(PinName i2c_sda, PinName i2c_scl);

    void setAddress(char new_addr);
    inline char getAddress(void)
    {
        return address;
    }

    bool init(bool io_2v8 = true);

    void writeReg(char reg, char value);
    void writeReg16Bit(char reg, short value);
    void writeReg32Bit(char reg, long value);
    char readReg(char reg);
    short readReg16Bit(char reg);
    long readReg32Bit(char reg);

    void writeMulti(char reg, char const * src, char count);
    void readMulti(char reg, char * dst, char count);

    bool setSignalRateLimit(float limit_Mcps);
    float getSignalRateLimit(void);

    bool setMeasurementTimingBudget(long budget_us);
    long getMeasurementTimingBudget(void);

    bool setVcselPulsePeriod(vcselPeriodType type, char period_pclks);
    char getVcselPulsePeriod(vcselPeriodType type);

    void startContinuous(long period_ms = 0);
    void stopContinuous(void);
    short readRangeContinuousMillimeters(void);
    short readRangeSingleMillimeters(void);

    inline void setTimeout(short timeout)
    {
        io_timeout = timeout;
    }
    inline short getTimeout(void)
    {
        return io_timeout;
    }
    bool timeoutOccurred(void);

private:
    // TCC: Target CentreCheck
    // MSRC: Minimum Signal Rate Check
    // DSS: Dynamic Spad Selection

    I2C i2c;

    struct SequenceStepEnables {
        bool tcc, msrc, dss, pre_range, final_range;
    };

    struct SequenceStepTimeouts {
        short pre_range_vcsel_period_pclks, final_range_vcsel_period_pclks;

        short msrc_dss_tcc_mclks, pre_range_mclks, final_range_mclks;
        long msrc_dss_tcc_us,    pre_range_us,    final_range_us;
    };

    char    data_w_2[2];            //buff for write
    char    data_w_3[3];            //buff for write
    char    data_w_5[5];            //buff for write
    char    data_r_1[1];            //buff for read
    char    data_r_2[2];            //buff for read
    char    data_r_4[4];            //buff for read
    char    address;
    short   io_timeout;
    bool    did_timeout;
    short   timeout_start_ms;

    char stop_variable; // read by init and used when starting measurement; is StopVariable field of VL53L0X_DevData_t structure in API
    long measurement_timing_budget_us;

    bool getSpadInfo(char * count, bool * type_is_aperture);

    void getSequenceStepEnables(SequenceStepEnables * enables);
    void getSequenceStepTimeouts(SequenceStepEnables const * enables, SequenceStepTimeouts * timeouts);

    bool performSingleRefCalibration(char vhv_init_byte);

    static short decodeTimeout(short value);
    static short encodeTimeout(short timeout_mclks);
    static long timeoutMclksToMicroseconds(short timeout_period_mclks, char vcsel_period_pclks);
    static long timeoutMicrosecondsToMclks(long timeout_period_us, char vcsel_period_pclks);
};

#endif