Diff: Components/VL6180X/vl6180x_class.h

Revision:

35:407b0b127eb8

Parent:

32:ef97c377d27b

Child:

38:18abb7f7dcb2

--- a/Components/VL6180X/vl6180x_class.h	Tue Nov 17 17:38:38 2015 +0100
+++ b/Components/VL6180X/vl6180x_class.h	Wed Nov 18 16:35:04 2015 +0000
@@ -42,14 +42,14 @@
 #include "RangeSensor.h"
 #include "LightSensor.h"
 #include "DevI2C.h" 
-#include "vl6180x_api.h"
+//#include "vl6180x_api.h"
 #include "vl6180x_cfg.h"
 #include "vl6180x_def.h"
 #include "vl6180x_types.h"
 #include "vl6180x_platform.h"
-//#include "vl6180x_appcfg.h"
 #include "stmpe1600_class.h"
 
+ 
 /* 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 
@@ -237,223 +237,684 @@
     }
 		
     /** Wrapper functions */	
-    
- 	/**
-	 * @brief       Wait sensor to boot
-	 * @return      0 when device is booted
-	 */		   
+/** @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 WaitDeviceBooted()
     {
        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
+ */		
     int Init() 
     {
        return VL6180x_InitData(Device);
     }
-		
+
+/**
+ * @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 SetupGPIO1(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 RangeStartContinuousMode()
     {
        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 RangeStartSingleShot()
     {
        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 RangeSetMaxConvergenceTime(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 RangePollMeasurement(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 RangeGetMeasurementIfReady(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 RangeGetMeasurement(VL6180x_RangeData_t *pRangeData)
     {
        return VL6180x_RangeGetMeasurement(Device, 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 pRange_mm  Pointer to range distance
+ * @return           0 on success
+ */		
     int GetRange(int32_t *piData)
     {
        return VL6180x_RangeGetResult(Device, piData);
     }
 		
+/**
+ * @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 RangeConfigInterrupt(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 RangeGetInterruptStatus(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 AlsPollMeasurement(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 AlsGetMeasurement(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 AlsConfigInterrupt(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 AlsSetIntegrationPeriod(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 AlsSetInterMeasurementPeriod(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 AlsSetAnalogueGain(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 AlsSetThresholds(uint16_t lux_threshold_low, uint16_t lux_threshold_high);
 
+/**
+ * Read ALS interrupt status
+ * @param pIntStatus  Pointer to status
+ * @return            0 on success
+ */
     int AlsGetInterruptStatus(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 StaticInit()
     {
        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 RangeWaitDeviceReady(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 RangeSetInterMeasPeriod(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 UpscaleSetScaling(uint8_t scaling)
     {
        return VL6180x_UpscaleSetScaling(Device, scaling);
     }
-		
+
+/**
+ * @brief Get current ranging scaling factor
+ *
+ * @return    The current scaling factor
+ */				
     int UpscaleGetScaling()
     {
        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 GetUpperLimit()
     {
        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 RangeSetThresholds(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 RangeGetThresholds(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 RangeSetRawThresholds(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 RangeSetEceFactor(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 RangeSetEceState(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 FilterSetState(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 FilterGetState()
     {
        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 DMaxSetState(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 DMaxGetState()
     {
        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 RangeSetSystemMode(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 GetOffsetCalibrationData()
     {
        return VL6180x_GetOffsetCalibrationData(Device);
     }
-		
+
+/**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
+ * @param offset   Offset
+ */		
     void SetOffsetCalibrationData(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 SetXTalkCompensationRate(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 AlsWaitDeviceReady(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 AlsSetSystemMode(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 SetGroupParamHold(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 SetI2CAddress(int NewAddr)
     {
        int status;
@@ -463,47 +924,141 @@
           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 SetupGPIOx(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 SetGPIOxPolarity(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 SetGPIOxFunctionality(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 DisableGPIOxOut(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 GetInterruptStatus(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 ClearInterrupt(uint8_t IntClear)
     {
        return VL6180x_ClearInterrupt(Device, 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)
+	
+/** @}  */
+
+/**
+ * @brief Get the ALS (light in Lux) level
+ *
+ * @par Function Description
+ * Get the ALS (light in Lux) level 
+ * @param *piData The pointer to variable to write in the measure in Lux
+ * @return  0       On success
+ */				
     int GetLight(uint32_t *piData)
     {
        return VL6180x_AlsGetLux(Device, piData);
     }
-		
+
+/**
+ * @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 AlsStartContinuousMode()
     {
        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 AlsStartSingleShot()
     {
        return VL6180x_AlsSetSystemMode(Device, MODE_START_STOP|MODE_SINGLESHOT);