Diff: Components/VL6180X/vl6180x_api.h

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1:1de1ea2994d9

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+++ b/Components/VL6180X/vl6180x_api.h	Wed Sep 09 16:00:39 2015 +0000
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+/*******************************************************************************
+Copyright © 2014, 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.
+********************************************************************************/
+/*
+ * @file VL6180x_api.h
+ * $Date: 2015-03-24 14:15:14 +0100 (Tue, 24 Mar 2015) $
+ * $Revision: 2213 $
+ */
+
+
+
+#ifndef VL6180x_API_H_
+#define VL6180x_API_H_
+
+#include "vl6180x_def.h"
+#include "vl6180x_platform.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** @defgroup api_ll API Low Level Functions
+ *  @brief    API Low level functions
+ */
+
+/** @defgroup api_hl API High Level Functions
+ *  @brief    API High level functions
+ */
+ 
+
+/*
+ * Check and set default platform dependent configuration
+ */
+#ifndef  VL6180x_SINGLE_DEVICE_DRIVER
+#error "VL6180x_SINGLE_DEVICE_DRIVER not defined"
+/* TODO you may remove or comment these #error but it is best you update your vl6180x_platform.h file to define it*/
+#endif
+
+
+#ifndef  VL6180x_RANGE_STATUS_ERRSTRING
+#warning "VL6180x_RANGE_STATUS_ERRSTRING not defined ?"
+/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
+   or update your vl6180x_platform.h file */
+/**
+ * force VL6180x_RANGE_STATUS_ERRSTRING to not supported when not part of any cfg file
+ */
+#define VL6180x_RANGE_STATUS_ERRSTRING  0
+#endif
+
+#ifndef  VL6180X_SAFE_POLLING_ENTER
+#warning "VL6180X_SAFE_POLLING_ENTER not defined, likely old vl6180x_cfg.h file ?"
+/* TODO you may remove or comment these #warning and keep the default below to keep compatibility
+   or update your vl6180x_platform.h file */
+/**
+ * force VL6180X_SAFE_POLLING_ENTER to off when not in cfg file
+ */
+#define VL6180X_SAFE_POLLING_ENTER 0 /* off by default as in api 2.0 */
+#endif
+
+#ifndef VL6180X_LOG_ENABLE
+/**
+ * Force VL6180X_LOG_ENABLE to none as default
+ */
+#define VL6180X_LOG_ENABLE  0
+#endif
+
+#if VL6180x_RANGE_STATUS_ERRSTRING
+/**@def VL6180x_HAVE_RANGE_STATUS_ERRSTRING
+ * @brief is defined when @a #VL6180x_RANGE_STATUS_ERRSTRING is enable
+ */
+#define  VL6180x_HAVE_RANGE_STATUS_ERRSTRING
+#endif
+
+
+/** @brief Get API version as "hex integer" 0xMMnnss
+ */
+#define VL6180x_ApiRevInt  ((VL6180x_API_REV_MAJOR<<24)+(VL6180x_API_REV_MINOR<<16)+VL6180x_API_REV_SUB)
+
+/** Get API version as string for exe "2.1.12" "
+ */
+#define VL6180x_ApiRevStr  VL6180X_STR(VL6180x_API_REV_MAJOR) "." VL6180X_STR(VL6180x_API_REV_MINOR) "." VL6180X_STR(VL6180x_API_REV_SUB)
+
+/** @defgroup api_init Init functions
+ *  @brief    API init functions
+ *  @ingroup api_hl
+ *  @{  
+ */
+/**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * @par Function Description
+ * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
+ * @warning After device chip enable (gpio0) de-asserted  user must wait gpio1 to get asserted (hardware standby).
+ * or wait at least 400usec prior to do any low level access or api call .
+ *
+ * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
+ * @warning if device get prepared @a VL6180x_Prepare() re-using these function can hold indefinitely\n
+ *
+ * @param dev  The device
+ * @return     0 on success
+ */
+int VL6180x_WaitDeviceBooted(VL6180xDev_t dev);
+
+/**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
+ * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL6180x_InitData  multiple time
+ * then it  must ensure proper offset calibration saving and restore on its own
+ * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
+ *
+ * @param dev  The device
+ * @return     0 on success,  @a #CALIBRATION_WARNING if failed
+ */
+int VL6180x_InitData(VL6180xDev_t dev );
+
+/**
+ * @brief Configure GPIO1 function and set polarity.
+ * @par Function Description
+ * To be used prior to arm single shot measure or start  continuous mode.
+ *
+ * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
+ * @warning  changing polarity can generate a spurious interrupt on pins.
+ * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
+ * It is safe to run VL6180x_ClearAllInterrupt() just after.
+ *
+ * @param dev           The device
+ * @param IntFunction   The interrupt functionality to use one of :\n
+ *  @a #GPIOx_SELECT_OFF \n
+ *  @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
+ * @param ActiveHigh  The interrupt line polarity see ::IntrPol_e
+ *      use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
+ * @return 0 on success
+ */
+int VL6180x_SetupGPIO1(VL6180xDev_t dev, uint8_t IntFunction, int ActiveHigh);
+
+ /**
+  * @brief  Prepare device for operation
+  * @par Function Description
+  * Does static initialization and reprogram common default settings \n
+  * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
+  * After prepare user can : \n
+  * @li Call other API function to set other settings\n
+  * @li Configure the interrupt pins, etc... \n
+  * @li Then start ranging or ALS operations in single shot or continuous mode
+  *
+  * @param dev   The device
+  * @return      0 on success
+  */
+ int VL6180x_Prepare(VL6180xDev_t dev);
+ 
+ /** @}  */
+ 
+
+/** @defgroup api_hl_range Ranging functions
+ *  @brief    Ranging functions
+ *  @ingroup api_hl
+ *  @{  
+ */
+ 
+ /**
+ * @brief Start continuous ranging mode
+ *
+ * @details End user should ensure device is in idle state and not already running
+ */
+int VL6180x_RangeStartContinuousMode(VL6180xDev_t dev);
+
+/**
+ * @brief Start single shot ranging measure
+ *
+ * @details End user should ensure device is in idle state and not already running
+ */
+int VL6180x_RangeStartSingleShot(VL6180xDev_t dev);
+
+/**
+ * @brief Set maximum convergence time
+ *
+ * @par Function Description
+ * Setting a low convergence time can impact maximal detectable distance.
+ * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
+ * A typical value for up to x3 scaling is 50 ms
+ *
+ * @param dev
+ * @param MaxConTime_msec
+ * @return 0 on success. <0 on error. >0 for calibration warning status
+ */
+int VL6180x_RangeSetMaxConvergenceTime(VL6180xDev_t dev, uint8_t  MaxConTime_msec);
+ 
+/**
+  * @brief Single shot Range measurement in polling mode.
+  *
+  * @par Function Description
+  * Kick off a new single shot range  then wait for ready to retrieve it by polling interrupt status \n
+  * Ranging must be prepared by a first call to  @a VL6180x_Prepare() and it is safer to clear  very first poll call \n
+  * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
+  * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
+  * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
+  * \n This function clears Range Interrupt status , but not error one. For that uses  @a VL6180x_ClearErrorInterrupt() \n
+  * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
+  * 
+  * @param dev          The device
+  * @param pRangeData   Will be populated with the result ranging data @a  VL6180x_RangeData_t
+  * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
+  *
+  * \sa ::VL6180x_RangeData_t
+  */
+int VL6180x_RangePollMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+
+/**
+ * @brief Check for measure readiness and get it if ready
+ *
+ * @par Function Description
+ * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
+ * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
+ * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
+ * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
+ *
+ * @warning 
+ * This function does not re-start a new measurement : this is up to the host CPU to do it.\n 
+ * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses  @a VL6180x_ClearErrorInterrupt() \n
+ *
+ * @param dev  The device
+ * @param pRangeData  Will be populated with the result ranging data if available
+ * @return  0 when measure is ready pRange data is updated (untouched when not ready),  >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
+ */
+int VL6180x_RangeGetMeasurementIfReady(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+
+/**
+ * @brief Retrieve range measurements set  from device
+ *
+ * @par Function Description
+ * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
+ * Based on configuration selected extra measures are included.
+ *
+ * @warning should not be used in continuous if wrap around filter is active \n
+ * Does not perform any wait nor check for result availability or validity.
+ *\sa VL6180x_RangeGetResult for "range only" measurement
+ *
+ * @param dev         The device
+ * @param pRangeData  Pointer to the data structure to fill up
+ * @return            0 on success
+ */
+int VL6180x_RangeGetMeasurement(VL6180xDev_t dev, VL6180x_RangeData_t *pRangeData);
+
+/**
+ * @brief Get ranging result and only that
+ *
+ * @par Function Description
+ * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
+ * It does any required up-scale translation\n
+ * It can be called after success status polling or in interrupt mode \n
+ * @warning these function is not doing wrap around filtering \n
+ * This function doesn't perform any data ready check!
+ *
+ * @param dev        The device
+ * @param pRange_mm  Pointer to range distance
+ * @return           0 on success
+ */
+int VL6180x_RangeGetResult(VL6180xDev_t dev, int32_t *pRange_mm);
+
+/**
+ * @brief Configure ranging interrupt reported to application
+ *
+ * @param dev            The device
+ * @param ConfigGpioInt  Select ranging report\n select one (and only one) of:\n
+ *   @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ *   @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ *   @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ *   @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ *   @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return   0 on success
+ */
+int VL6180x_RangeConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
+
+
+/**
+ * @brief Clear range interrupt
+ *
+ * @param dev    The device
+ * @return  0    On success
+ */
+#define VL6180x_RangeClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_RANGING)
+
+/**
+ * @brief Return ranging error interrupt status
+ *
+ * @par Function Description
+ * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a  VL6180x_Prepare() \n
+ *
+ * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
+ * Events triggers are : \n
+ * @a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * @a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
+ *
+ * @sa IntrStatus_t
+ * @param dev        The device
+ * @param pIntStatus Pointer to status variable to update
+ * @return           0 on success
+ */
+int VL6180x_RangeGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus);
+
+#if VL6180x_RANGE_STATUS_ERRSTRING
+
+extern const char * ROMABLE_DATA VL6180x_RangeStatusErrString[];
+/**
+ * @brief Human readable error string for range error status
+ *
+ * @param RangeErrCode  The error code as stored on @a VL6180x_RangeData_t::errorStatus
+ * @return  error string , NULL for invalid RangeErrCode
+ * @sa ::RangeError_u
+ */
+const char * VL6180x_RangeGetStatusErrString(uint8_t RangeErrCode);
+#else
+#define VL6180x_RangeGetStatusErrString(...) NULL
+#endif
+
+/** @}  */
+
+#if VL6180x_ALS_SUPPORT
+
+/** @defgroup api_hl_als ALS functions
+ *  @brief    ALS functions
+ *  @ingroup api_hl
+ *  @{  
+ */
+
+/**
+ * @brief   Run a single ALS measurement in single shot polling mode
+ *
+ * @par Function Description
+ * Kick off a new single shot ALS then wait new measurement ready to retrieve it ( polling system interrupt status register for als) \n
+ * ALS must be prepared by a first call to @a VL6180x_Prepare() \n
+ * \n Should not be used in continuous or interrupt mode it will break it and create hazard in start/stop \n
+ *
+ * @param dev          The device
+ * @param pAlsData     Als data structure to fill up @a VL6180x_AlsData_t
+ * @return             0 on success
+ */
+int VL6180x_AlsPollMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
+
+
+/**
+ * @brief  Get actual ALS measurement
+ *
+ * @par Function Description
+ * Can be called after success status polling or in interrupt mode to retrieve ALS measurement from device \n
+ * This function doesn't perform any data ready check !
+ *
+ * @param dev        The device
+ * @param pAlsData   Pointer to measurement struct @a VL6180x_AlsData_t
+ * @return  0 on success
+ */
+int VL6180x_AlsGetMeasurement(VL6180xDev_t dev, VL6180x_AlsData_t *pAlsData);
+
+/**
+ * @brief  Configure ALS interrupts provide to application
+ *
+ * @param dev            The Device
+ * @param ConfigGpioInt  Select one (and only one) of : \n
+ *   @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ *   @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ *   @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ *   @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ *   @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return               0 on success may return #INVALID_PARAMS for invalid mode
+ */
+int VL6180x_AlsConfigInterrupt(VL6180xDev_t dev, uint8_t ConfigGpioInt);
+
+
+/**
+ * @brief Set ALS integration period
+ *
+ * @param dev        The device
+ * @param period_ms  Integration period in msec. Value in between 50 to 100 msec is recommended\n
+ * @return           0 on success
+ */
+int VL6180x_AlsSetIntegrationPeriod(VL6180xDev_t dev, uint16_t period_ms);
+
+/**
+ * @brief Set ALS "inter-measurement period"
+ *
+ * @par Function Description
+ * The so call data-sheet "inter measurement period" is actually an extra inter-measurement delay
+ *
+ * @param dev        The device
+ * @param intermeasurement_period_ms Inter measurement time in milli second\n
+ *        @warning applied value is clipped to 2550 ms\n
+ * @return           0 on success if value is
+ */
+int VL6180x_AlsSetInterMeasurementPeriod(VL6180xDev_t dev,  uint16_t intermeasurement_period_ms);
+
+/**
+ * @brief Set ALS analog gain code
+ *
+ * @par Function Description
+ * ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN .
+ * @param dev   The device
+ * @param gain  Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7.
+ * @return  0 on success
+ */
+ 
+int VL6180x_AlsSetAnalogueGain(VL6180xDev_t dev, uint8_t gain);
+/**
+ * @brief Set thresholds for ALS continuous mode 
+ * @warning Threshold are raw device value not lux!
+ *
+ * @par Function Description
+ * Basically value programmed in @a SYSALS_THRESH_LOW and @a SYSALS_THRESH_HIGH registers
+ * @param dev   The device
+ * @param low   ALS low raw threshold for @a SYSALS_THRESH_LOW
+ * @param high  ALS high raw threshold for  @a SYSALS_THRESH_HIGH
+ * @return  0 on success
+ */
+int VL6180x_AlsSetThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high);
+
+/**
+ * @brief  Clear ALS interrupt
+ *
+ * @param dev    The device
+ * @return  0    On success
+ */
+ #define VL6180x_AlsClearInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ALS)
+ 
+/**
+ * Read ALS interrupt status
+ * @param dev         Device
+ * @param pIntStatus  Pointer to status
+ * @return            0 on success
+ */
+int VL6180x_AlsGetInterruptStatus(VL6180xDev_t dev, uint8_t *pIntStatus);
+ 
+/** @}  */
+#endif
+
+/** @defgroup api_ll_init Init functions
+ *  @brief    Init functions
+ *  @ingroup api_ll
+ *  @{  
+ */
+ 
+/**
+ * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
+ *
+ * @param dev
+ * @return 0 on success
+ */
+int VL6180x_StaticInit(VL6180xDev_t dev);
+ 
+ /** @}  */
+ 
+/** @defgroup api_ll_range Ranging functions
+ *  @brief    Ranging Low Level functions
+ *  @ingroup api_ll
+ *  @{  
+ */
+
+/**
+ * @brief Wait for device to be ready (before a new ranging command can be issued by application)
+ * @param dev        The device
+ * @param MaxLoop    Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return           0 on success. <0 when fail \n
+ *                   @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
+ *                   @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
+ */
+int VL6180x_RangeWaitDeviceReady(VL6180xDev_t dev, int MaxLoop );
+
+/**
+ * @brief Program Inter measurement period (used only in continuous mode)
+ *
+ * @par Function Description
+ * When trying to set too long time, it returns #INVALID_PARAMS
+ *
+ * @param dev     The device
+ * @param InterMeasTime_msec Requires inter-measurement time in msec
+ * @return 0 on success
+ */
+int VL6180x_RangeSetInterMeasPeriod(VL6180xDev_t dev, uint32_t  InterMeasTime_msec);
+
+
+/**
+ * @brief Set device ranging scaling factor
+ *
+ * @par Function Description
+ * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
+ * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
+ * It can be source of spurious interrupt, wrongly scaled range etc ...
+ * @warning __This  function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
+ *  To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
+ *  @li Set Group hold  : @a VL6180x_SetGroupParamHold() \n
+ *  @li Get Threshold @a VL6180x_RangeGetThresholds() \n
+ *  @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
+ *  @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
+ *  @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
+ *
+ * @param dev      The device
+ * @param scaling  Scaling factor to apply (1,2 or 3)
+ * @return          0 on success when up-scale support is not configured it fail for any
+ *                  scaling than the one statically configured.
+ */
+int VL6180x_UpscaleSetScaling(VL6180xDev_t dev, uint8_t scaling);
+
+/**
+ * @brief Get current ranging scaling factor
+ *
+ * @param dev The device
+ * @return    The current scaling factor
+ */
+int VL6180x_UpscaleGetScaling(VL6180xDev_t dev);
+
+
+/**
+ * @brief Give filtered state (wrap-around filter) of a range measurement
+ * @param pRangeData  Range measurement data
+ * @return  0 means measure was not filtered,  when not 0 range from device got filtered by filter post processing
+ */
+#define VL6180x_RangeIsFilteredMeasurement(pRangeData) ((pRangeData)->errorStatus == RangingFiltered)
+
+/**
+ * @brief Get the maximal distance for actual scaling
+ * @par Function Description
+ * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
+ *
+ * Any range value more than the value returned by this function is to be considered as "no target detected"
+ * or "no target in detectable range" \n
+ * @warning The maximal distance depends on the scaling
+ *
+ * @param dev The device
+ * @return    The maximal range limit for actual mode and scaling
+ */
+uint16_t VL6180x_GetUpperLimit(VL6180xDev_t dev);
+
+/**
+ * @brief Apply low and high ranging thresholds that are considered only in continuous mode
+ *
+ * @par Function Description
+ * This function programs low and high ranging thresholds that are considered in continuous mode : 
+ * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.  
+ * The function takes care of applying current scaling factor if any.\n
+ * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
+ * Group hold can be activated/deactivated directly in the function or externally (then set 0)
+ * using /a VL6180x_SetGroupParamHold() function.
+ *
+ * @param dev      The device
+ * @param low      Low threshold in mm
+ * @param high     High threshold in mm
+ * @param SafeHold  Use of group parameters hold to surround threshold programming.
+ * @return  0 On success
+ */
+int VL6180x_RangeSetThresholds(VL6180xDev_t dev, uint16_t low, uint16_t high, int SafeHold);
+
+/**
+ * @brief  Get scaled high and low threshold from device
+ *
+ * @par Function Description
+ * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
+ * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
+ * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
+
+ * @param dev  The device
+ * @param low  scaled low Threshold ptr  can be NULL if not needed
+ * @param high scaled High Threshold ptr can be NULL if not needed
+ * @return 0 on success, return value is undefined if both low and high are NULL
+ * @warning return value is undefined if both low and high are NULL
+ */
+int VL6180x_RangeGetThresholds(VL6180xDev_t dev, uint16_t *low, uint16_t *high);
+
+/**
+ * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
+ *
+ * @param dev  The device
+ * @param low  raw low threshold set to raw register
+ * @param high raw high threshold set to raw  register
+ * @return 0 on success
+ */
+int VL6180x_RangeSetRawThresholds(VL6180xDev_t dev, uint8_t low, uint8_t high);
+
+/**
+ * @brief Set Early Convergence Estimate ratio
+ * @par Function Description
+ * For more information on ECE check datasheet
+ * @warning May return a calibration warning in some use cases
+ *
+ * @param dev        The device
+ * @param FactorM    ECE factor M in M/D
+ * @param FactorD    ECE factor D in M/D
+ * @return           0 on success. <0 on error. >0 on warning
+ */
+int VL6180x_RangeSetEceFactor(VL6180xDev_t dev, uint16_t  FactorM, uint16_t FactorD);
+
+/**
+ * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
+ * @param dev       The device
+ * @param enable    State to be set 0=disabled, otherwise enabled
+ * @return          0 on success
+ */
+int VL6180x_RangeSetEceState(VL6180xDev_t dev, int enable );
+
+/**
+ * @brief Set activation state of the wrap around filter
+ * @param dev   The device
+ * @param state New activation state (0=off,  otherwise on)
+ * @return      0 on success
+ */
+int VL6180x_FilterSetState(VL6180xDev_t dev, int state);
+
+/**
+ * Get activation state of the wrap around filter
+ * @param dev  The device
+ * @return     Filter enabled or not, when filter is not supported it always returns 0S
+ */
+int VL6180x_FilterGetState(VL6180xDev_t dev);
+
+
+/**
+ * @brief Set activation state of  DMax computation
+ * @param dev   The device
+ * @param state New activation state (0=off,  otherwise on)
+ * @return      0 on success
+ */
+int VL6180x_DMaxSetState(VL6180xDev_t dev, int state);
+
+/**
+ * Get activation state of DMax computation
+ * @param dev  The device
+ * @return     Filter enabled or not, when filter is not supported it always returns 0S
+ */
+int VL6180x_DMaxGetState(VL6180xDev_t dev);
+
+
+/**
+ * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
+ *
+ * @par Function Description
+ * When used outside scope of known polling single shot stopped state, \n
+ * user must ensure the device state is "idle" before to issue a new command.
+ *
+ * @param dev   The device
+ * @param mode  A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
+ * @return      0 on success
+ */
+int VL6180x_RangeSetSystemMode(VL6180xDev_t dev, uint8_t mode);
+ 
+/** @}  */ 
+
+/** @defgroup api_ll_range_calibration Ranging calibration functions
+ *  @brief    Ranging calibration functions
+ *  @ingroup api_ll
+ *  @{  
+ */
+/**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
+ *
+ * @param dev  The device
+ * @return part to part calibration offset from device
+ */
+int8_t VL6180x_GetOffsetCalibrationData(VL6180xDev_t dev);
+
+/**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
+ * @param dev     The device
+ * @param offset   Offset
+ */
+void VL6180x_SetOffsetCalibrationData(VL6180xDev_t dev, int8_t offset);
+
+/**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
+ *
+ * @param dev  The device
+ * @param Rate Compensation rate (9.7 fix point) see datasheet for details
+ * @return     0 on success
+ */
+int  VL6180x_SetXTalkCompensationRate(VL6180xDev_t dev, FixPoint97_t Rate);
+
+/** @}  */
+
+
+
+#if VL6180x_ALS_SUPPORT
+/** @defgroup api_ll_als ALS functions
+ *  @brief    ALS functions
+ *  @ingroup api_ll
+ *  @{  
+ */
+
+/**
+ * @brief Wait for device to be ready for new als operation or max pollign loop (time out)
+ * @param dev        The device
+ * @param MaxLoop    Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return           0 on success. <0 when @a VL6180x_ErrCode_t::TIME_OUT if timed out
+ */
+int VL6180x_AlsWaitDeviceReady(VL6180xDev_t dev, int MaxLoop );
+
+/**
+ * @brief Set ALS system mode and start/stop measure
+ *
+ * @warning When used outside after single shot polling, \n
+ * User must ensure  the device state is ready before issuing a new command (using @a VL6180x_AlsWaitDeviceReady()). \n
+ * Non respect of this, can cause loss of interrupt or device hanging.
+ *
+ * @param dev   The device
+ * @param mode  A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start condition (#MODE_START_STOP) \n
+ * @return      0 on success
+ */
+int VL6180x_AlsSetSystemMode(VL6180xDev_t dev, uint8_t mode); 
+
+/** @}  */ 
+#endif 
+
+/** @defgroup api_ll_misc Misc functions
+ *  @brief    Misc functions
+ *  @ingroup api_ll
+ *  @{  
+ */
+
+/**
+ * Set Group parameter Hold state
+ *
+ * @par Function Description
+ * Group parameter holds @a #SYSTEM_GROUPED_PARAMETER_HOLD enable safe update (non atomic across multiple measure) by host
+ * \n The critical register group is composed of: \n
+ * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * #SYSRANGE_THRESH_HIGH \n
+ * #SYSRANGE_THRESH_LOW \n
+ * #SYSALS_INTEGRATION_PERIOD \n
+ * #SYSALS_ANALOGUE_GAIN \n
+ * #SYSALS_THRESH_HIGH \n
+ * #SYSALS_THRESH_LOW
+ *
+ *
+ * @param dev   The device
+ * @param Hold  Group parameter Hold state to be set (on/off)
+ * @return      0 on success
+ */
+int VL6180x_SetGroupParamHold(VL6180xDev_t dev, int Hold);
+
+/**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @sa AN4478: Using multiple VL6180X's in a single design
+ * @param dev       The device
+ * @param NewAddr   The new i2c address (7bit)
+ * @return          0 on success
+ */
+int VL6180x_SetI2CAddress(VL6180xDev_t dev, uint8_t NewAddr);
+
+/**
+ * @brief Fully configure gpio 0/1 pin : polarity and functionality
+ *
+ * @param dev          The device
+ * @param pin          gpio pin 0 or 1
+ * @param IntFunction  Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @param ActiveHigh   Set active high polarity, or active low see @a ::IntrPol_e
+ * @return             0 on success
+ */
+int VL6180x_SetupGPIOx(VL6180xDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh);
+
+
+/**
+ * @brief Set interrupt pin polarity for the given GPIO
+ *
+ * @param dev          The device
+ * @param pin          Pin 0 or 1
+ * @param active_high  select active high or low polarity using @ref IntrPol_e
+ * @return             0 on success
+ */
+int VL6180x_SetGPIOxPolarity(VL6180xDev_t dev, int pin, int active_high);
+
+/**
+ * Select interrupt functionality for the given GPIO
+ *
+ * @par Function Description
+ * Functionality refer to @a SYSTEM_MODE_GPIO0
+ *
+ * @param dev            The device
+ * @param pin            Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
+ * @param functionality  Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @return              0 on success
+ */
+int VL6180x_SetGPIOxFunctionality(VL6180xDev_t dev, int pin, uint8_t functionality);
+
+/**
+ * #brief Disable and turn to Hi-Z gpio output pin
+ *
+ * @param dev  The device
+ * @param pin  The pin number to disable 0 or 1
+ * @return     0 on success
+ */
+int VL6180x_DisableGPIOxOut(VL6180xDev_t dev, int pin);
+
+/**
+ * @def msec_2_i2cloop
+ * @brief  Number of I2C polling loop (an 8 bit register) to run for maximal wait time.
+ *
+ * @par Function Description
+ * When polling via I2C the overall time is mainly the I2C transaction time because it is a slow bus
+ *   one 8 bit register poll on I2C bus timing is shown below: \n
+ *   start + addr_w(a)  + 2x8bit index(a)  + stop  + start  + addr_rd(a)  + 1x8bit data_rd(a) + stop \n
+ *   1        8   1        2*(8+1)           1       1          8     1        8           1    1 \n
+ *  so 49 serial bits
+ *
+ * @param  time_ms  Time to wait in milli second 10
+ * @param  i2c_khz  I2C bus frequencies in KHz  for instance 400
+ * @return The number of loops (at least 1)
+ */
+#define msec_2_i2cloop( time_ms, i2c_khz )  (((time_ms)*(i2c_khz)/49)+1)
+
+/** @}  */
+
+
+
+/**
+ * polarity use in @a VL6180x_SetupGPIOx() , @a VL6180x_SetupGPIO1()
+ */
+typedef enum  {
+    INTR_POL_LOW        =0, /*!< set active low polarity best setup for falling edge */
+    INTR_POL_HIGH       =1, /*!< set active high polarity best setup for rising edge */
+}IntrPol_e;
+
+/** @defgroup api_ll_intr Interrupts management functions
+ *  @brief    Interrupts management functions
+ *  @ingroup api_ll
+ *  @{  
+ */
+
+/**
+ * @brief     Get all interrupts cause
+ *
+ * @param dev    The device
+ * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
+ * @return 0 on success
+ */
+int VL6180x_GetInterruptStatus(VL6180xDev_t dev, uint8_t *status);
+
+/**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
+ * @param dev       The device 
+ * @param IntClear  Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return  0       On success
+ */
+int VL6180x_ClearInterrupt(VL6180xDev_t dev, uint8_t IntClear );
+
+/**
+ * @brief Clear error interrupt
+ *
+ * @param dev    The device
+ * @return  0    On success
+ */
+ #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
+
+/**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev    The device
+ * @return  0    On success
+ */
+#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
+
+/** @}  */
+
+
+/** @defgroup api_reg API Register access functions
+ *  @brief    Registers access functions called by API core functions
+ *  @ingroup api_ll
+ *  @{  
+ */
+
+/**
+ * Write VL6180x single byte register
+ * @param dev   The device
+ * @param index The register index
+ * @param data  8 bit register data
+ * @return success
+ */
+int VL6180x_WrByte(VL6180xDev_t dev, uint16_t index, uint8_t data);
+/**
+ * Thread safe VL6180x Update (rd/modify/write) single byte register
+ *
+ * Final_reg = (Initial_reg & and_data) |or_data
+ *
+ * @param dev   The device
+ * @param index The register index
+ * @param AndData  8 bit and data
+ * @param OrData   8 bit or data
+ * @return 0 on success
+ */
+int VL6180x_UpdateByte(VL6180xDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData);
+/**
+ * Write VL6180x word register
+ * @param dev   The device
+ * @param index The register index
+ * @param data  16 bit register data
+ * @return  0 on success
+ */
+int VL6180x_WrWord(VL6180xDev_t dev, uint16_t index, uint16_t data);
+/**
+ * Write VL6180x double word (4 byte) register
+ * @param dev   The device
+ * @param index The register index
+ * @param data  32 bit register data
+ * @return  0 on success
+ */
+int VL6180x_WrDWord(VL6180xDev_t dev, uint16_t index, uint32_t data);
+
+/**
+ * Read VL6180x single byte register
+ * @param dev   The device
+ * @param index The register index
+ * @param data  pointer to 8 bit data
+ * @return 0 on success
+ */
+int VL6180x_RdByte(VL6180xDev_t dev, uint16_t index, uint8_t *data);
+
+/**
+ * Read VL6180x word (2byte) register
+ * @param dev   The device
+ * @param index The register index
+ * @param data  pointer to 16 bit data
+ * @return 0 on success
+ */
+int VL6180x_RdWord(VL6180xDev_t dev, uint16_t index, uint16_t *data);
+
+/**
+ * Read VL6180x dword (4byte) register
+ * @param dev   The device
+ * @param index The register index
+ * @param data  pointer to 32 bit data
+ * @return 0 on success
+ */
+int VL6180x_RdDWord(VL6180xDev_t dev, uint16_t index, uint32_t *data);
+
+/** @}  */
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* VL6180x_API_H_ */