Diff: Components/VL6180X/VL6180X.h

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57:fa4c622b04a7

Child:

58:1e9a3a46f814

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+++ b/Components/VL6180X/VL6180X.h	Mon Mar 13 19:08:10 2017 +0000
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+/**
+ ******************************************************************************
+ * @file    VL6180X.h
+ * @author  AST / EST
+ * @version V0.0.1
+ * @date    9-November-2015
+ * @brief   Header file for component VL6180X
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>&copy; COPYRIGHT(c) 2015 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.
+ *
+ ******************************************************************************
+*/
+
+
+#ifndef __VL6180X_CLASS_H
+#define __VL6180X_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "RangeSensor.h"
+#include "LightSensor.h"
+#include "DevI2C.h" 
+//#include "vl6180x_api.h"
+#include "vl6180x_cfg.h"
+#include "vl6180x_def.h"
+#include "vl6180x_types.h"
+#include "vl6180x_platform.h"
+#include "STMPE1600.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/**
+ * @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)
+
+/**
+ * Default device address
+ */
+#define DEFAULT_DEVICE_ADDRESS		0x29
+
+/* Types ---------------------------------------------------------------------*/
+
+/* data struct containing range measure, light measure and type of error provided to the user
+   in case of invalid data range_mm=0xFFFFFFFF and lux=0xFFFFFFFF */	
+typedef struct MeasureData 
+{
+   uint32_t range_mm;
+   uint32_t lux;
+   uint32_t range_error;
+   uint32_t als_error;
+   uint32_t int_error;
+} measure_data_t;
+
+/* sensor operating modes */ 
+typedef enum
+{
+   range_single_shot_polling=1,
+   als_single_shot_polling,
+   range_continuous_polling,
+   als_continuous_polling,
+   range_continuous_interrupt,
+   als_continuous_interrupt,
+   interleaved_mode_interrupt,
+   range_continuous_polling_low_threshold,
+   range_continuous_polling_high_threshold,
+   range_continuous_polling_out_of_window,
+   als_continuous_polling_low_threshold,
+   als_continuous_polling_high_threshold,
+   als_continuous_polling_out_of_window,
+   range_continuous_interrupt_low_threshold,
+   range_continuous_interrupt_high_threshold,
+   range_continuous_interrupt_out_of_window,
+   als_continuous_interrupt_low_threshold,
+   als_continuous_interrupt_high_threshold,
+   als_continuous_interrupt_out_of_window,
+   range_continuous_als_single_shot,
+   range_single_shot_als_continuous,
+} operating_mode_t;
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * Class representing a VL6180X sensor component
+ */
+class VL6180X : public RangeSensor, public LightSensor
+{
+public:
+    /** Constructor 1 (DigitalOut)
+     * @param[in] &i2c device I2C to be used for communication
+     * @param[in] &pin Mbed DigitalOut 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] DevAddr device address, 0x29 by default  
+     */
+    VL6180X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), _dev_i2c(i2c), _gpio0(&pin)
+    {
+        _my_device.I2cAddr=DevAddr;		 
+        _my_device.Present=0;
+        _my_device.Ready=0;
+        _device=&_my_device;;
+        _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  
+     */		
+    VL6180X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), LightSensor(), _dev_i2c(i2c), _expgpio0(&pin)
+    {
+        _my_device.I2cAddr=DevAddr;		 
+        _my_device.Present=0;
+        _my_device.Ready=0;
+        _device=&_my_device;
+        _gpio0=NULL;		
+        if (pin_gpio1 != NC) {
+       		_gpio1Int = new InterruptIn(pin_gpio1);
+   		} else {
+   			_gpio1Int = NULL;
+		}
+    }  	 
+    
+    /** Destructor
+     */
+    virtual ~VL6180X() { 
+    	if (_gpio1Int != NULL) {
+    		delete _gpio1Int;
+		}
+    }  
+    
+    /* warning: VL6180X 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 */		 
+    void on(void)
+    {
+        if (_gpio0) {
+	    	*_gpio0=1;
+        } else if(_expgpio0) {
+	    	*_expgpio0=1;
+	    }
+        _my_device.I2cAddr=DEFAULT_DEVICE_ADDRESS;
+        _my_device.Ready=0;       
+    } 
+
+	/**
+	 * @brief       PowerOff the sensor
+	 * @return      void
+	 */		
+    /* turns off the sensor */
+    void off(void) 
+    {
+        if (_gpio0) {
+	    	*_gpio0=0;
+        } else if(_expgpio0) {
+	    	*_expgpio0=0;	
+        }
+        _my_device.I2cAddr=DEFAULT_DEVICE_ADDRESS;
+        _my_device.Ready=0;       
+    }   
+    
+	/**
+	 * @brief       Start the measure indicated by operating mode
+	 * @param[in]   operating_mode specifies requested measure 
+	 * @param[in]   fptr specifies call back function must be !NULL in case of interrupt measure	 
+	 * @param[in]   low specifies measure low threashold in Lux or in mm according to measure
+	 * @param[in]   high specifies measure high threashold in Lux or in mm according to measure
+	 * @return      0 on Success
+	 */					     
+    int start_measurement(operating_mode_t operating_mode, void (*fptr)(void), uint16_t low, uint16_t high);
+
+	/**
+	 * @brief       Get results for the measure indicated by operating mode
+	 * @param[in]   operating_mode specifies requested measure results
+	 * @param[out]  Data pointer to the measure_data_t structure to read data in to
+	 * @return      0 on Success
+	 */					         
+    int get_measurement(operating_mode_t operating_mode, measure_data_t *Data);		
+
+	/**
+	 * @brief       Stop the currently running measure indicate by operating_mode
+	 * @param[in]   operating_mode specifies requested measure to stop
+	 * @return      0 on Success
+	 */					             
+    int stop_measurement(operating_mode_t operating_mode);
+     
+ 	/**
+	 * @brief       Interrupt handling func to be called by user after an INT is occourred
+	 * @param[in]   opeating_mode indicating the in progress measure
+	 * @param[out]  Data pointer to the measure_data_t structure to read data in to
+	 * @return      0 on Success
+	 */					          		
+    int handle_irq(operating_mode_t operating_mode, measure_data_t *Data);    
+
+	/**
+	 * @brief       Enable interrupt measure IRQ
+	 * @return      0 on Success
+	 */					     
+    void enable_interrupt_measure_detection_irq(void) 
+    {
+		if (_gpio1Int != NULL) {
+			_gpio1Int->enable_irq();
+		}
+    }
+
+	/**
+	 * @brief       Disable interrupt measure IRQ
+	 * @return      0 on Success
+	 */					          
+    void disable_interrupt_measure_detection_irq(void) 
+    {
+		if (_gpio1Int != NULL) {
+			_gpio1Int->disable_irq();
+		}
+    }
+	/*** End High level API ***/	          
+	
+	/**
+	 * @brief       Attach a function to call when an interrupt is detected, i.e. measurement is ready
+	 * @param[in]   fptr pointer to call back function to be called whenever an interrupt occours
+	 * @return      0 on Success
+	 */					                  
+    void attach_interrupt_measure_detection_irq(void (*fptr)(void))
+    {
+		if (_gpio1Int != NULL) {
+			_gpio1Int->rise(fptr);
+		}
+    }
+    
+	/**
+	 * @brief       Check the sensor presence
+	 * @return      1 when device is present
+	 */						
+    unsigned present()
+    {
+        return _device->Present;
+    }
+		
+    /** Wrapper functions */	
+	/** @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 		void
+	 * @return     0 on success
+	 */
+    int wait_device_booted()
+    {
+        return VL6180X_WaitDeviceBooted(_device);
+    }
+
+	/**
+	 *
+	 * @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 void
+	 * @return     0 on success,  @a #CALIBRATION_WARNING if failed
+	*/
+	virtual int init(void * NewAddr)
+	{
+	    int status;
+	 
+	 	off();
+	    on();
+	   
+	    status=VL6180X_WaitDeviceBooted(_device);
+	    if(status) {
+	        VL6180X_ErrLog("WaitDeviceBooted fail\n\r");      
+	    }  
+	    status=IsPresent();
+	    if(!status) {
+			_device->Present=1;
+	        VL6180X_InitData(_device);
+	        if(status) {
+	            printf("Failed to init VL6180X sensor!\n\r");
+	            return status;
+	        }
+	        status=prepare();
+	        if(status) {
+	            printf("Failed to prepare VL6180X!\n\r");
+	            return status;
+	        }
+	        if(*(uint8_t*)NewAddr!=DEFAULT_DEVICE_ADDRESS) {
+	            status=set_i2c_address(*(uint8_t*)NewAddr);
+	            if(status) {
+	                printf("Failed to change I2C address!\n\r");
+	                return status;
+	            }
+	        }
+	        _device->Ready=1;
+		}
+		return status; 
+	}
+
+	/**
+	 * @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 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 setup_gpio_1(uint8_t InitFunction, int ActiveHigh)
+    {
+		return VL6180X_SetupGPIO1(_device, InitFunction, 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 void
+	 * @return      0 on success
+	 */		
+    int prepare()
+    {
+		return VL6180X_Prepare(_device);
+    }
+
+	/**
+	 * @brief Start continuous ranging mode
+	 *
+	 * @details End user should ensure device is in idle state and not already running
+	 * @return      0 on success
+	 */		
+    int range_start_continuous_mode()
+    {
+		return VL6180X_RangeStartContinuousMode(_device);
+    }
+
+	/**
+	 * @brief Start single shot ranging measure
+	 *
+	 * @details End user should ensure device is in idle state and not already running
+	 * @return      0 on success 
+	 */		
+    int range_start_single_shot()
+    {
+		return VL6180X_RangeStartSingleShot(_device);
+    }
+
+	/**
+	 * @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 MaxConTime_msec
+	 * @return 0 on success. <0 on error. >0 for calibration warning status
+	 */		
+    int range_set_max_convergence_time(uint8_t MaxConTime_msec)
+    {
+        return VL6180X_RangeSetMaxConvergenceTime(_device, 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 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 range_poll_measurement(VL6180X_RangeData_t *pRangeData)
+    {
+        return VL6180X_RangePollMeasurement(_device, 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 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 _range_get_measurement_if_ready(VL6180X_RangeData_t *pRangeData)
+    {
+        return VL6180X_RangeGetMeasurementIfReady(_device, 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 pRangeData  Pointer to the data structure to fill up
+	 * @return            0 on success
+	 */		
+    int range_get_measurement(VL6180X_RangeData_t *pRangeData)
+    {
+        return VL6180X_RangeGetMeasurement(_device, pRangeData);
+    }
+
+	/**
+	 * @brief Get a single distance measure result
+	 *
+	 * @par Function Description
+	 * It can be called after having initialized a component. It start a single 
+	 * distance measure in polling mode and wait until the measure is finisched. 
+	 * The function block until the measure is finished, it can blocks indefinitely 
+	 * in case the measure never ends for any reason \n
+	 *
+	 * @param pi_data  Pointer to distance
+	 * @return 0 on success
+	 */		
+    virtual int get_distance(uint32_t *pi_data)
+    {
+        int status=0; 
+        LOG_FUNCTION_START("");
+        status=start_measurement(range_single_shot_polling, NULL, NULL, NULL);
+        if (!status) {
+		    range_wait_device_ready(2000);				 
+            for (status=1; status!=0; status=VL6180X_RangeGetResult(_device, pi_data));
+        }
+        stop_measurement(range_single_shot_polling);
+        range_wait_device_ready(2000);
+        LOG_FUNCTION_END(status);
+
+        return status;
+    }
+			
+	/**
+	 * @brief Configure ranging interrupt reported to application
+	 *
+	 * @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 range_config_interrupt(uint8_t ConfigGpioInt)
+    {
+        return VL6180X_RangeConfigInterrupt(_device, ConfigGpioInt);
+    }
+
+	/**
+	 * @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 pIntStatus Pointer to status variable to update
+	 * @return           0 on success
+	 */		
+    int range_get_interrupt_status(uint8_t *pIntStatus)
+    {
+        return VL6180X_RangeGetInterruptStatus(_device, pIntStatus);
+    }
+
+	/**
+	 * @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 als_poll_measurement(VL6180X_AlsData_t *pAlsData)
+    {
+        return VL6180X_AlsPollMeasurement(_device, 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 pAlsData   Pointer to measurement struct @a VL6180X_AlsData_t
+	 * @return  0 on success
+	 */		
+    int als_get_measurement(VL6180X_AlsData_t *pAlsData)
+    {
+        return VL6180X_AlsGetMeasurement(_device, pAlsData);
+    }
+
+	/**
+	 * @brief  Configure ALS interrupts provide to application
+	 *
+	 * @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 als_config_interrupt(uint8_t ConfigGpioInt)
+    {
+        return VL6180X_AlsConfigInterrupt(_device, ConfigGpioInt);
+    }
+
+	/**
+	 * @brief Set ALS integration period
+	 *
+	 * @param period_ms  Integration period in msec. Value in between 50 to 100 msec is recommended\n
+	 * @return           0 on success
+	 */		
+    int als_set_integration_period(uint16_t period_ms)
+    {
+        return VL6180X_AlsSetIntegrationPeriod(_device, 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 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 als_set_inter_measurement_period(uint16_t intermeasurement_period_ms)
+    {
+        return VL6180X_AlsSetInterMeasurementPeriod(_device, intermeasurement_period_ms);
+    }
+
+	/**
+	 * @brief Set ALS analog gain code
+	 *
+	 * @par Function Description
+	 * ALS gain code value programmed in @a SYSALS_ANALOGUE_GAIN .
+	 * @param gain  Gain code see datasheet or AlsGainLookUp for real value. Value is clipped to 7.
+	 * @return  0 on success
+	 */
+    int als_set_analogue_gain(uint8_t gain)
+    {
+        return VL6180X_AlsSetAnalogueGain(_device, 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 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 als_set_thresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high);
+
+	/**
+	 * Read ALS interrupt status
+	 * @param pIntStatus  Pointer to status
+	 * @return            0 on success
+	 */
+    int als_get_interrupt_status(uint8_t *pIntStatus)
+    {
+        return VL6180X_AlsGetInterruptStatus(_device, pIntStatus);
+    }
+
+	/**
+	 * @brief Low level ranging and ALS register static settings (you should call @a VL6180X_Prepare() function instead)
+	 *
+	 * @return 0 on success
+	 */
+    int static_init()
+    {
+        return VL6180X_StaticInit(_device);
+    }
+
+	/**
+	 * @brief Wait for device to be ready (before a new ranging command can be issued by application)
+	 * @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 range_wait_device_ready(int MaxLoop)
+    {
+        return VL6180X_RangeWaitDeviceReady(_device, 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 InterMeasTime_msec Requires inter-measurement time in msec
+	 * @return 0 on success
+	 */		
+    int range_set_inter_meas_period(uint32_t InterMeasTime_msec)
+    {
+        return VL6180X_RangeSetInterMeasPeriod(_device, 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 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 upscale_set_scaling(uint8_t scaling)
+    {
+        return VL6180X_UpscaleSetScaling(_device, scaling);
+    }
+
+	/**
+	 * @brief Get current ranging scaling factor
+	 *
+	 * @return    The current scaling factor
+	 */				
+    int upscale_get_scaling()
+    {
+        return VL6180X_UpscaleGetScaling(_device);
+    }
+
+	/**
+	 * @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
+	 *
+	 * @return    The maximal range limit for actual mode and scaling
+	 */		
+    uint16_t get_upper_limit()
+    {
+        return VL6180X_GetUpperLimit(_device);
+    }
+
+	/**
+	 * @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 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 range_set_thresholds(uint16_t low, uint16_t high, int SafeHold)
+    {
+        return VL6180X_RangeSetThresholds(_device, low, high, 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 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 range_get_thresholds(uint16_t *low, uint16_t *high)
+    {
+        return VL6180X_RangeGetThresholds(_device, low, high);
+    }
+
+	/**
+	 * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
+	 *
+	 * @param low  raw low threshold set to raw register
+	 * @param high raw high threshold set to raw  register
+	 * @return 0 on success
+	 */			
+    int range_set_raw_thresholds(uint8_t low, uint8_t high)
+    {
+        return VL6180X_RangeSetRawThresholds(_device, low, 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 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 range_set_ece_factor(uint16_t  FactorM, uint16_t FactorD)
+    {
+        return VL6180X_RangeSetEceFactor(_device, FactorM, FactorD);
+    }
+
+	/**
+	 * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
+	 * @param enable    State to be set 0=disabled, otherwise enabled
+	 * @return          0 on success
+	 */		
+    int range_set_ece_state(int enable)
+    {
+        return VL6180X_RangeSetEceState(_device, enable);
+    }
+
+	/**
+	 * @brief Set activation state of the wrap around filter
+	 * @param state New activation state (0=off,  otherwise on)
+	 * @return      0 on success
+	 */			
+    int flter_set_state(int state)
+    {
+        return VL6180X_FilterSetState(_device, state);
+    }
+
+	/**
+	 * Get activation state of the wrap around filter
+	 * @return     Filter enabled or not, when filter is not supported it always returns 0S
+	 */			
+    int filter_get_state()
+    {
+        return VL6180X_FilterGetState(_device);
+    }
+
+	/**
+	 * @brief Set activation state of  DMax computation
+	 * @param state New activation state (0=off,  otherwise on)
+	 * @return      0 on success
+	 */		
+    int d_max_set_state(int state)
+    {
+        return VL6180X_DMaxSetState(_device, state);
+    }
+
+	/**
+	 * Get activation state of DMax computation
+	 * @return     Filter enabled or not, when filter is not supported it always returns 0S
+	 */		
+    int d_max_get_state()
+    {
+        return VL6180X_DMaxGetState(_device);
+    }
+
+	/**
+	 * @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 mode  A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
+	 * @return      0 on success
+	 */		
+    int range_set_system_mode(uint8_t mode)
+    {
+        return VL6180X_RangeSetSystemMode(_device, 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
+	 *
+	 * @return part to part calibration offset from device
+	 */		
+    int8_t get_offset_calibration_data()
+    {
+        return VL6180X_GetOffsetCalibrationData(_device);
+    }
+
+	/**
+	 * Set or over-write part to part calibration offset
+	 * \sa VL6180X_InitData(), VL6180X_GetOffsetCalibrationData()
+	 * @param offset   Offset
+	 */		
+    void set_offset_calibration_data(int8_t offset)
+    {
+        return VL6180X_SetOffsetCalibrationData(_device, offset);
+    }
+
+	/**
+	 * @brief Set Cross talk compensation rate
+	 *
+	 * @par Function Description
+	 * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
+	 *
+	 * @param Rate Compensation rate (9.7 fix point) see datasheet for details
+	 * @return     0 on success
+	 */		
+    int set_x_talk_compensation_rate(FixPoint97_t Rate)
+    {
+        return VL6180X_SetXTalkCompensationRate(_device, Rate);
+    }
+	/** @}  */
+	
+	/** @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 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 als_wait_device_ready(int MaxLoop)
+    {
+        return VL6180X_AlsWaitDeviceReady(_device, 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 mode  A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start condition (#MODE_START_STOP) \n
+	 * @return      0 on success
+	 */		
+    int als_set_system_mode(uint8_t mode)
+    {
+        return VL6180X_AlsSetSystemMode(_device, mode);
+    }
+
+	/** @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 Hold  Group parameter Hold state to be set (on/off)
+	 * @return      0 on success
+	 */
+    int set_group_param_hold(int Hold)
+    {
+        return VL6180X_SetGroupParamHold(_device, 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 NewAddr   The new i2c address (7bit)
+	 * @return          0 on success
+	 */		
+    int set_i2c_address(int NewAddr)
+    {
+		int status;
+			
+		status=VL6180X_SetI2CAddress(_device, NewAddr);
+		if (!status) {
+			_device->I2cAddr=NewAddr;
+		}
+        return status;
+    }
+
+	/**
+	 * @brief Fully configure gpio 0/1 pin : polarity and functionality
+	 *
+	 * @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 setup_gpio_x(int pin, uint8_t IntFunction, int ActiveHigh)
+    {
+        return VL6180X_SetupGPIOx(_device, pin, IntFunction, ActiveHigh);
+    }
+
+	/**
+	 * @brief Set interrupt pin polarity for the given GPIO
+	 *
+	 * @param pin          Pin 0 or 1
+	 * @param active_high  select active high or low polarity using @ref IntrPol_e
+	 * @return             0 on success
+	 */		
+    int set_gpio_x_polarity(int pin, int active_high)
+    {
+        return VL6180X_SetGPIOxPolarity(_device, pin, active_high);
+    }
+
+	/**
+	 * Select interrupt functionality for the given GPIO
+	 *
+	 * @par Function Description
+	 * Functionality refer to @a SYSTEM_MODE_GPIO0
+	 *
+	 * @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 set_gpio_x_functionality(int pin, uint8_t functionality)
+    {
+        return VL6180X_SetGPIOxFunctionality(_device, pin, functionality);
+    }
+
+	/**
+	 * #brief Disable and turn to Hi-Z gpio output pin
+	 *
+	 * @param pin  The pin number to disable 0 or 1
+	 * @return     0 on success
+	 */	
+    int disable_gpio_x_out(int pin)
+    {
+        return VL6180X_DisableGPIOxOut(_device, pin);
+    }
+
+	/** @}  */
+	
+	/** @defgroup api_ll_intr Interrupts management functions
+	 *  @brief    Interrupts management functions
+	 *  @ingroup api_ll
+	 *  @{  
+	 */
+
+	/**
+	 * @brief     Get all interrupts cause
+	 *
+	 * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
+	 * @return 0 on success
+	 */		
+    int get_interrupt_status(uint8_t *status)
+    {
+        return VL6180X_GetInterruptStatus(_device, 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 clear_interrupt(uint8_t IntClear)
+    {
+        return VL6180X_ClearInterrupt(_device, IntClear );
+    }
+
+	/** @}  */
+	
+	/**
+	 * @brief Get a single light (in Lux) measure result
+	 *
+	 * @par Function Description
+	 * It can be called after having initialized a component. It start a single 
+	 * light measure in polling mode and wait until the measure is finisched. 
+	 * The function block until the measure is finished, it can blocks indefinitely 
+	 * in case the measure never ends for any reason \n
+	 */				
+    virtual int get_lux(uint32_t *pi_data)
+    {
+        int status=0; 
+        LOG_FUNCTION_START("");
+        status = start_measurement(als_single_shot_polling, NULL, NULL, NULL);
+        if (!status) {        
+            als_wait_device_ready(2000);				 
+            for (status=1; status!=0; status=VL6180X_AlsGetLux(_device, pi_data));
+        }
+        stop_measurement(als_single_shot_polling);
+	    als_wait_device_ready(2000);				 			 
+        LOG_FUNCTION_END(status);       
+
+        return status;
+    }
+
+	/**
+	 * @brief Start the ALS (light) measure in continous mode
+	 *
+	 * @par Function Description
+	 * Start the ALS (light) measure in continous mode
+	 * @return  0       On success
+	 */						
+    int als_start_continuous_mode()
+    {
+        return VL6180X_AlsSetSystemMode(_device, MODE_START_STOP|MODE_CONTINUOUS);
+    }
+
+	/**
+	 * @brief Start the ALS (light) measure in single shot mode
+	 *
+	 * @par Function Description
+	 * Start the ALS (light) measure in single shot mode
+	 * @return  0       On success
+	 */						    
+    int als_start_single_shot()
+    {
+        return VL6180X_AlsSetSystemMode(_device, MODE_START_STOP|MODE_SINGLESHOT);
+    }
+		
+private:		
+    /* api.h functions */
+    int VL6180X_WaitDeviceBooted(VL6180XDev_t dev);
+    int VL6180X_InitData(VL6180XDev_t dev );
+    int VL6180X_SetupGPIO1(VL6180XDev_t dev, uint8_t IntFunction, int ActiveHigh);
+    int VL6180X_Prepare(VL6180XDev_t dev);
+    int VL6180X_RangeStartContinuousMode(VL6180XDev_t dev);
+    int VL6180X_RangeStartSingleShot(VL6180XDev_t dev);
+    int VL6180X_RangeSetMaxConvergenceTime(VL6180XDev_t dev, uint8_t  MaxConTime_msec);
+    int VL6180X_RangePollMeasurement(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+    int VL6180X_RangeGetMeasurementIfReady(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+    int VL6180X_RangeGetMeasurement(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+    int VL6180X_RangeGetResult(VL6180XDev_t dev, uint32_t *pRange_mm);
+    int VL6180X_RangeConfigInterrupt(VL6180XDev_t dev, uint8_t ConfigGpioInt);
+    int VL6180X_RangeGetInterruptStatus(VL6180XDev_t dev, uint8_t *pIntStatus);
+    int VL6180X_AlsPollMeasurement(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData);
+    int VL6180X_AlsGetMeasurement(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData);
+    int VL6180X_AlsConfigInterrupt(VL6180XDev_t dev, uint8_t ConfigGpioInt);
+    int VL6180X_AlsSetIntegrationPeriod(VL6180XDev_t dev, uint16_t period_ms);
+    int VL6180X_AlsSetInterMeasurementPeriod(VL6180XDev_t dev,  uint16_t intermeasurement_period_ms);
+    int VL6180X_AlsSetAnalogueGain(VL6180XDev_t dev, uint8_t gain);
+    int VL6180X_AlsSetThresholds(VL6180XDev_t dev, uint16_t low, uint16_t high);
+    int VL6180X_AlsGetInterruptStatus(VL6180XDev_t dev, uint8_t *pIntStatus);
+    int VL6180X_StaticInit(VL6180XDev_t dev);
+    int VL6180X_RangeWaitDeviceReady(VL6180XDev_t dev, int MaxLoop );
+    int VL6180X_RangeSetInterMeasPeriod(VL6180XDev_t dev, uint32_t  InterMeasTime_msec);
+    int VL6180X_UpscaleSetScaling(VL6180XDev_t dev, uint8_t scaling);
+    int VL6180X_UpscaleGetScaling(VL6180XDev_t dev);
+    uint16_t VL6180X_GetUpperLimit(VL6180XDev_t dev);
+    int VL6180X_RangeSetThresholds(VL6180XDev_t dev, uint16_t low, uint16_t high, int SafeHold);
+    int VL6180X_RangeGetThresholds(VL6180XDev_t dev, uint16_t *low, uint16_t *high);
+    int VL6180X_RangeSetRawThresholds(VL6180XDev_t dev, uint8_t low, uint8_t high);
+    int VL6180X_RangeSetEceFactor(VL6180XDev_t dev, uint16_t  FactorM, uint16_t FactorD);
+    int VL6180X_RangeSetEceState(VL6180XDev_t dev, int enable );
+    int VL6180X_FilterSetState(VL6180XDev_t dev, int state);
+    int VL6180X_FilterGetState(VL6180XDev_t dev);
+    int VL6180X_DMaxSetState(VL6180XDev_t dev, int state);
+    int VL6180X_DMaxGetState(VL6180XDev_t dev);
+    int VL6180X_RangeSetSystemMode(VL6180XDev_t dev, uint8_t mode);
+    int8_t VL6180X_GetOffsetCalibrationData(VL6180XDev_t dev);
+    void VL6180X_SetOffsetCalibrationData(VL6180XDev_t dev, int8_t offset);
+    int VL6180X_SetXTalkCompensationRate(VL6180XDev_t dev, FixPoint97_t Rate);
+    int VL6180X_AlsWaitDeviceReady(VL6180XDev_t dev, int MaxLoop );
+    int VL6180X_AlsSetSystemMode(VL6180XDev_t dev, uint8_t mode); 
+    int VL6180X_SetGroupParamHold(VL6180XDev_t dev, int Hold);
+    int VL6180X_SetI2CAddress(VL6180XDev_t dev, uint8_t NewAddr);
+    int VL6180X_SetupGPIOx(VL6180XDev_t dev, int pin, uint8_t IntFunction, int ActiveHigh);
+    int VL6180X_SetGPIOxPolarity(VL6180XDev_t dev, int pin, int active_high);
+    int VL6180X_SetGPIOxFunctionality(VL6180XDev_t dev, int pin, uint8_t functionality);
+    int VL6180X_DisableGPIOxOut(VL6180XDev_t dev, int pin);
+    int VL6180X_GetInterruptStatus(VL6180XDev_t dev, uint8_t *status);
+    int VL6180X_ClearInterrupt(VL6180XDev_t dev, uint8_t IntClear );
+		
+    /*  Other functions defined in api.c */
+    int VL6180X_RangeStaticInit(VL6180XDev_t dev); 
+    int VL6180X_UpscaleRegInit(VL6180XDev_t dev);
+    int VL6180X_UpscaleStaticInit(VL6180XDev_t dev); 
+    int VL6180X_AlsGetLux(VL6180XDev_t dev, lux_t *pLux);
+    int _UpscaleInitPatch0(VL6180XDev_t dev); 
+    int VL6180X_RangeGetDeviceReady(VL6180XDev_t dev, int * Ready);
+    int VL6180X_RangeSetEarlyConvergenceEestimateThreshold(VL6180XDev_t dev);
+    int32_t _GetAveTotalTime(VL6180XDev_t dev); 
+    int32_t _filter_Start(VL6180XDev_t dev, uint16_t m_trueRange_mm, uint16_t m_rawRange_mm, uint32_t m_rtnSignalRate, uint32_t m_rtnAmbientRate, uint16_t errorCode);
+    int _filter_GetResult(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData);
+    int _GetRateResult(VL6180XDev_t dev, VL6180X_RangeData_t *pRangeData); 
+    int _DMax_InitData(VL6180XDev_t dev);
+		
+    /* Read function of the ID device */
+    virtual int read_id(uint8_t *id);
+    
+    /* Write and read functions from I2C */
+    int VL6180X_WrByte(VL6180XDev_t dev, uint16_t index, uint8_t data);
+    int VL6180X_WrWord(VL6180XDev_t dev, uint16_t index, uint16_t data);
+    int VL6180X_WrDWord(VL6180XDev_t dev, uint16_t index, uint32_t data);
+    int VL6180X_RdByte(VL6180XDev_t dev, uint16_t index, uint8_t *data);
+    int VL6180X_RdWord(VL6180XDev_t dev, uint16_t index, uint16_t *data);
+    int VL6180X_RdDWord(VL6180XDev_t dev, uint16_t index, uint32_t *data);
+    int VL6180X_UpdateByte(VL6180XDev_t dev, uint16_t index, uint8_t AndData, uint8_t OrData);
+    int VL6180X_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
+    int VL6180X_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
+		
+    int IsPresent();
+    int StopRangeMeasurement(operating_mode_t operating_mode);
+    int StopAlsMeasurement(operating_mode_t operating_mode);
+    int GetRangeMeas(operating_mode_t operating_mode, measure_data_t *Data);	
+    int GetAlsMeas(operating_mode_t operating_mode, measure_data_t *Data);
+    int GetRangeAlsMeas(measure_data_t *Data);
+    int RangeSetLowThreshold(uint16_t threshold);
+    int RangeSetHighThreshold(uint16_t threshold);
+    int AlsSetLowThreshold(uint16_t threshold);	
+    int AlsSetHighThreshold(uint16_t threshold);
+    int GetRangeError(measure_data_t *Data, VL6180X_RangeData_t RangeData);
+    int GetAlsError(measure_data_t *Data, VL6180X_AlsData_t AlsData);
+    int RangeMeasPollSingleShot();
+    int AlsMeasPollSingleShot();		
+    int RangeMeasPollContinuousMode();	
+    int AlsMeasPollContinuousMode();
+    int AlsGetMeasurementIfReady(VL6180XDev_t dev, VL6180X_AlsData_t *pAlsData);
+    int RangeMeasIntContinuousMode(void (*fptr)(void));
+    int AlsMeasIntContinuousMode(void (*fptr)(void));
+    int InterleavedMode(void (*fptr)(void));
+    int StartInterleavedMode();
+    int AlsGetThresholds(VL6180XDev_t dev, lux_t *low, lux_t *high);
+
+	/* IO _device */
+    DevI2C &_dev_i2c;
+    /* Digital out pin */
+    DigitalOut *_gpio0;
+    /* GPIO expander */
+    STMPE1600DigiOut *_expgpio0;
+    /* Measure detection IRQ */
+    InterruptIn *_gpio1Int;
+    /* _device data */
+    MyVL6180Dev_t _my_device;
+    VL6180XDev_t _device;  
+};
+
+#endif // __VL6180X_CLASS_H