ST
VL53L1X sensor class, for ARM Mbed platform. Based on Ultra-lite, Mass-market C Driver.
Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Diff: vl53l1x_class.h
- Revision:
- 5:f16727052990
- Child:
- 6:aa13392d16bb
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/vl53l1x_class.h Mon Jan 28 10:14:03 2019 +0000
@@ -0,0 +1,640 @@
+/*******************************************************************************
+ * @file vl53l1x_class.h
+ * @author JS
+ * @version V0.0.1
+ * @date 15-January-2019
+ * @brief Header file for VL53L1 sensor component
+ ******************************************************************************
+ Copyright © 2019, STMicroelectronics International N.V.
+ All rights reserved.
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * 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.
+ * 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, FITNESS FOR A PARTICULAR PURPOSE, AND
+ NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+ IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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.
+ *****************************************************************************/
+
+#ifndef __VL53L1X_CLASS_H
+#define __VL53L1X_CLASS_H
+
+
+#ifdef _MSC_VER
+# ifdef VL53L1X_API_EXPORTS
+# define VL53L1X_API __declspec(dllexport)
+# else
+# define VL53L1X_API
+# endif
+#else
+# define VL53L1X_API
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "PinNames.h"
+#include "RangeSensor.h"
+#include "vl53l1x_error_codes.h"
+//#include "DevI2C.h"
+#include "vl53L1x_I2c.h"
+#include "Stmpe1600.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
+
+#define VL53L1X_REG_IDENTIFICATION_MODEL_ID 0x010F
+/****************************************
+ * 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;
+
+} 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
+ */
+ VL53L1X(vl53L1X_DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53L1X_DEFAULT_DEVICE_ADDRESS)
+ : RangeSensor(), dev_i2c(i2c), _gpio0(pin)
+ {
+ MyDevice.I2cDevAddr=dev_addr;
+ 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
+ */
+ VL53L1X(vl53L1X_DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1,
+ uint8_t dev_addr = VL53L1X_DEFAULT_DEVICE_ADDRESS)
+ : dev_i2c(i2c), _expgpio0(pin)
+ {
+ MyDevice.I2cDevAddr=dev_addr;
+ Device = &MyDevice;
+
+ _gpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L1X()
+ {
+ if (_gpio1Int != NULL) {
+ delete _gpio1Int;
+ }
+ }
+
+
+
+ VL53L1_DEV getDevicePtr() { return Device; }
+
+
+ /* 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)
+ {
+ printf("VL53L1_On\r\n");
+ if (_gpio0) {
+ *_gpio0 = 1;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 1;
+ }
+ }
+ wait_ms(10);
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ virtual void VL53L1_Off(void)
+ {
+ printf("VL53L1_Off\r\n");
+ if (_gpio0) {
+ *_gpio0 = 0;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 0;
+ }
+ }
+ wait_ms(10);
+ }
+
+ int is_present()
+ {
+ int status;
+ uint8_t id = 0;
+
+ status = read_id(&id);
+ if (status) {
+ printf("Failed to read ID device. Device not present!\n\r");
+ }
+ return status;
+ }
+
+ /**
+ * @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(!status){
+ status = VL53L1X_SensorInit();
+ }
+
+ while(!status && !sensorState) {
+ status = VL53L1X_BootState(&sensorState);
+ wait_ms(2);
+ }
+
+ return status;
+ }
+
+
+
+/**
+ *
+ * @brief One time device initialization
+ * @param void
+ * @return 0 on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int init(void *init)
+ {
+ return VL53L1X_SensorInit();
+ }
+
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return "0" on success
+ */
+ int init_sensor(uint8_t new_addr);
+
+ /* Read function of the ID device */
+ virtual int read_id(uint8_t *id){
+ int status = 0;
+ uint16_t rl_id = 0;
+
+ uint8_t ExpanderData[2];
+
+ ExpanderData[0] = 0;
+ ExpanderData[1] = 0;
+ rl_id = 0;
+ dev_i2c->v53l1x_i2c_read(&ExpanderData[0], Device->I2cDevAddr, VL53L1X_REG_IDENTIFICATION_MODEL_ID, 2);
+
+ rl_id = (ExpanderData[0] << 8) + ExpanderData[1];
+ printf("Model ID is: %d (%X) \r\n",rl_id, rl_id);
+
+ uint8_t tmp = 0;
+ ExpanderData[0] = VL53L1_FIRMWARE__SYSTEM_STATUS >> 8;
+ ExpanderData[1] = VL53L1_FIRMWARE__SYSTEM_STATUS & 0x0FF;
+ dev_i2c->v53l1x_i2c_read(&tmp, Device->I2cDevAddr, VL53L1_FIRMWARE__SYSTEM_STATUS, 1);
+
+ printf("Firmware system is: %d\r\n",tmp);
+
+ if (rl_id == 0xEACC) {
+ printf("Device is present %d:\r\n", rl_id);
+ return status;
+ }
+ return -1;
+ }
+
+
+
+/**
+ * @brief Get ranging result and only that
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
+ virtual int get_distance(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(uint16_t X, uint16_t Y);
+
+ /**
+ *@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, uint32_t count);
+ VL53L1X_ERROR VL53L1_ReadMulti(VL53L1_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
+
+ VL53L1X_ERROR VL53L1_I2CWrite(uint8_t dev, uint16_t index, uint8_t *data, uint16_t number_of_bytes);
+ VL53L1X_ERROR VL53L1_I2CRead(uint8_t dev, uint16_t index, uint8_t *data, uint16_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);
+
+ protected:
+
+ /* IO Device */
+ vl53L1X_DevI2C *dev_i2c;
+
+ /* Digital out pin */
+ DigitalOut *_gpio0;
+ /* GPIO expander */
+ Stmpe1600DigiOut *_expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+
+ ///* Digital out pin */
+ //int gpio0;
+ //int gpio1Int;
+ /* Device data */
+ VL53L1_Dev_t MyDevice;
+ VL53L1_DEV Device;
+};
+
+
+#endif /* _VL53L1X_CLASS_H_ */
\ No newline at end of file