Diff: vl53l0x_api.c

Revision:

0:e6fcdb78a136

Child:

2:a1dffa1ff38a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/vl53l0x_api.c	Tue Aug 23 05:14:05 2016 +0000
@@ -0,0 +1,3027 @@
+/*******************************************************************************
+ Copyright © 2016, 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.
+ ******************************************************************************/
+
+#include "vl53l0x_api.h"
+#include "vl53l0x_tuning.h"
+#include "vl53l0x_interrupt_threshold_settings.h"
+#include "vl53l0x_api_core.h"
+#include "vl53l0x_api_calibration.h"
+#include "vl53l0x_api_strings.h"
+
+#ifndef __KERNEL__
+#include <stdlib.h>
+#endif
+#define LOG_FUNCTION_START(fmt, ...) \
+	_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
+#define LOG_FUNCTION_END(status, ...) \
+	_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
+#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
+	_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
+
+#ifdef VL53L0X_LOG_ENABLE
+#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
+	level, TRACE_FUNCTION_NONE, ##__VA_ARGS__)
+#endif
+
+/* Group PAL General Functions */
+
+VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	pVersion->major = VL53L0X_IMPLEMENTATION_VER_MAJOR;
+	pVersion->minor = VL53L0X_IMPLEMENTATION_VER_MINOR;
+	pVersion->build = VL53L0X_IMPLEMENTATION_VER_SUB;
+
+	pVersion->revision = VL53L0X_IMPLEMENTATION_VER_REVISION;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetPalSpecVersion(VL53L0X_Version_t *pPalSpecVersion)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	pPalSpecVersion->major = VL53L0X_SPECIFICATION_VER_MAJOR;
+	pPalSpecVersion->minor = VL53L0X_SPECIFICATION_VER_MINOR;
+	pPalSpecVersion->build = VL53L0X_SPECIFICATION_VER_SUB;
+
+	pPalSpecVersion->revision = VL53L0X_SPECIFICATION_VER_REVISION;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev,
+	uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t revision_id;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID,
+		&revision_id);
+	*pProductRevisionMajor = 1;
+	*pProductRevisionMinor = (revision_id & 0xF0) >> 4;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+
+}
+
+VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
+	VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev,
+	VL53L0X_DeviceError *pDeviceErrorStatus)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t RangeStatus;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS,
+		&RangeStatus);
+
+	*pDeviceErrorStatus = (VL53L0X_DeviceError)((RangeStatus & 0x78) >> 3);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+
+VL53L0X_Error VL53L0X_GetDeviceErrorString(VL53L0X_DeviceError ErrorCode,
+	char *pDeviceErrorString)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_device_error_string(ErrorCode, pDeviceErrorString);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus,
+	char *pRangeStatusString)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_range_status_string(RangeStatus,
+		pRangeStatusString);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode,
+	char *pPalErrorString)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_pal_error_string(PalErrorCode, pPalErrorString);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode,
+	char *pPalStateString)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_pal_state_string(PalStateCode, pPalStateString);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, VL53L0X_State *pPalState)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	*pPalState = PALDevDataGet(Dev, PalState);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes PowerMode)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	/* Only level1 of Power mode exists */
+	if ((PowerMode != VL53L0X_POWERMODE_STANDBY_LEVEL1)
+		&& (PowerMode != VL53L0X_POWERMODE_IDLE_LEVEL1)) {
+		Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+	} else if (PowerMode == VL53L0X_POWERMODE_STANDBY_LEVEL1) {
+		/* set the standby level1 of power mode */
+		Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+		if (Status == VL53L0X_ERROR_NONE) {
+			/* Set PAL State to standby */
+			PALDevDataSet(Dev, PalState, VL53L0X_STATE_STANDBY);
+			PALDevDataSet(Dev, PowerMode,
+				VL53L0X_POWERMODE_STANDBY_LEVEL1);
+		}
+
+	} else {
+		/* VL53L0X_POWERMODE_IDLE_LEVEL1 */
+		Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+		if (Status == VL53L0X_ERROR_NONE)
+			Status = VL53L0X_StaticInit(Dev);
+
+		if (Status == VL53L0X_ERROR_NONE)
+			PALDevDataSet(Dev, PowerMode,
+				VL53L0X_POWERMODE_IDLE_LEVEL1);
+
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes *pPowerMode)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Byte;
+	LOG_FUNCTION_START("");
+
+	/* Only level1 of Power mode exists */
+	Status = VL53L0X_RdByte(Dev, 0x80, &Byte);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (Byte == 1) {
+			PALDevDataSet(Dev, PowerMode,
+				VL53L0X_POWERMODE_IDLE_LEVEL1);
+		} else {
+			PALDevDataSet(Dev, PowerMode,
+				VL53L0X_POWERMODE_STANDBY_LEVEL1);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
+	int32_t OffsetCalibrationDataMicroMeter)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev,
+		OffsetCalibrationDataMicroMeter);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
+	int32_t *pOffsetCalibrationDataMicroMeter)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev,
+		pOffsetCalibrationDataMicroMeter);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev,
+	int16_t LinearityCorrectiveGain)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	if ((LinearityCorrectiveGain < 0) || (LinearityCorrectiveGain > 1000))
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+	else {
+		PALDevDataSet(Dev, LinearityCorrectiveGain,
+			LinearityCorrectiveGain);
+
+		if (LinearityCorrectiveGain != 1000) {
+			/* Disable FW Xtalk */
+			Status = VL53L0X_WrWord(Dev,
+			VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev,
+	uint16_t *pLinearityCorrectiveGain)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	*pLinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, uint8_t GroupParamHold)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented on VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev,
+	uint16_t *pUpperLimitMilliMeter)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented on VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev,
+	FixPoint1616_t *pTotalSignalRate)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_RangingMeasurementData_t LastRangeDataBuffer;
+
+	LOG_FUNCTION_START("");
+
+	LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure);
+
+	Status = VL53L0X_get_total_signal_rate(
+		Dev, &LastRangeDataBuffer, pTotalSignalRate);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+/* End Group PAL General Functions */
+
+/* Group PAL Init Functions */
+VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
+		DeviceAddress / 2);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_DeviceParameters_t CurrentParameters;
+	int i;
+	uint8_t StopVariable;
+
+	LOG_FUNCTION_START("");
+
+	/* by default the I2C is running at 1V8 if you want to change it you
+	 * need to include this define at compilation level. */
+#ifdef USE_I2C_2V8
+	Status = VL53L0X_UpdateByte(Dev,
+		VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
+		0xFE,
+		0x01);
+#endif
+
+	/* Set I2C standard mode */
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_WrByte(Dev, 0x88, 0x00);
+
+	VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0);
+
+#ifdef USE_IQC_STATION
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_apply_offset_adjustment(Dev);
+#endif
+
+	/* Default value is 1000 for Linearity Corrective Gain */
+	PALDevDataSet(Dev, LinearityCorrectiveGain, 1000);
+
+	/* Dmax default Parameter */
+	PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
+	PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps,
+		(FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/
+
+	/* Set Default static parameters
+	 *set first temporary values 9.44MHz * 65536 = 618660 */
+	VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660);
+
+	/* Set Default XTalkCompensationRateMegaCps to 0  */
+	VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0);
+
+	/* Get default parameters */
+	Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters);
+	if (Status == VL53L0X_ERROR_NONE) {
+		/* initialize PAL values */
+		CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
+		CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
+		PALDevDataSet(Dev, CurrentParameters, CurrentParameters);
+	}
+
+	/* Sigma estimator variable */
+	PALDevDataSet(Dev, SigmaEstRefArray, 100);
+	PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900);
+	PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500);
+	PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */
+
+	/* Use internal default settings */
+	PALDevDataSet(Dev, UseInternalTuningSettings, 1);
+
+	Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+	Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
+	Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+	Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable);
+	PALDevDataSet(Dev, StopVariable, StopVariable);
+	Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
+	Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+	Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+	
+	/* Enable all check */
+	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+		if (Status == VL53L0X_ERROR_NONE)
+			Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1);
+		else
+			break;
+
+	}
+
+	/* Disable the following checks */
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetLimitCheckEnable(Dev,
+			VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetLimitCheckEnable(Dev,
+			VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetLimitCheckEnable(Dev,
+			VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetLimitCheckEnable(Dev,
+			VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
+
+	/* Limit default values */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_SetLimitCheckValue(Dev,
+			VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+				(FixPoint1616_t)(18 * 65536));
+	}
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_SetLimitCheckValue(Dev,
+			VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
+				(FixPoint1616_t)(25 * 65536 / 100));
+				/* 0.25 * 65536 */
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_SetLimitCheckValue(Dev,
+			VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+				(FixPoint1616_t)(35 * 65536));
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_SetLimitCheckValue(Dev,
+			VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+				(FixPoint1616_t)(0 * 65536));
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+
+		PALDevDataSet(Dev, SequenceConfig, 0xFF);
+		Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+			0xFF);
+
+		/* Set PAL state to tell that we are waiting for call to
+		 * VL53L0X_StaticInit */
+		PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE)
+		VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0);
+
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev,
+	uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	if (UseInternalTuningSettings == 1) {
+		/* Force use internal settings */
+		PALDevDataSet(Dev, UseInternalTuningSettings, 1);
+	} else {
+
+		/* check that the first byte is not 0 */
+		if (*pTuningSettingBuffer != 0) {
+			PALDevDataSet(Dev, pTuningSettingsPointer,
+				pTuningSettingBuffer);
+			PALDevDataSet(Dev, UseInternalTuningSettings, 0);
+
+		} else {
+			Status = VL53L0X_ERROR_INVALID_PARAMS;
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev,
+	uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	*ppTuningSettingBuffer = PALDevDataGet(Dev, pTuningSettingsPointer);
+	*pUseInternalTuningSettings = PALDevDataGet(Dev,
+		UseInternalTuningSettings);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_DeviceParameters_t CurrentParameters = {0};
+	uint8_t *pTuningSettingBuffer;
+	uint16_t tempword = 0;
+	uint8_t tempbyte = 0;
+	uint8_t UseInternalTuningSettings = 0;
+	uint32_t count = 0;
+	uint8_t isApertureSpads = 0;
+	uint32_t refSpadCount = 0;
+	uint8_t ApertureSpads = 0;
+	uint8_t vcselPulsePeriodPCLK;
+	FixPoint1616_t seqTimeoutMilliSecs;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_info_from_device(Dev, 1);
+
+	/* set the ref spad from NVM */
+	count	= (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+		ReferenceSpadCount);
+	ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+		ReferenceSpadType);
+
+	/* NVM value invalid */
+	if ((ApertureSpads > 1) ||
+		((ApertureSpads == 1) && (count > 32)) ||
+		((ApertureSpads == 0) && (count > 12)))
+		Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount,
+			&isApertureSpads);
+	else
+		Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads);
+
+
+	/* Initialize tuning settings buffer to prevent compiler warning. */
+	pTuningSettingBuffer = DefaultTuningSettings;
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		UseInternalTuningSettings = PALDevDataGet(Dev,
+			UseInternalTuningSettings);
+
+		if (UseInternalTuningSettings == 0)
+			pTuningSettingBuffer = PALDevDataGet(Dev,
+				pTuningSettingsPointer);
+		else
+			pTuningSettingBuffer = DefaultTuningSettings;
+
+	}
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer);
+
+
+	/* Set interrupt config to new sample ready */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_SetGpioConfig(Dev, 0, 0,
+		VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
+		VL53L0X_INTERRUPTPOLARITY_LOW);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+		Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
+		Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz,
+			VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword));
+	}
+
+	/* After static init, some device parameters may be changed,
+	 * so update them */
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters);
+
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_GetFractionEnable(Dev, &tempbyte);
+		if (Status == VL53L0X_ERROR_NONE)
+			PALDevDataSet(Dev, RangeFractionalEnable, tempbyte);
+
+	}
+
+	if (Status == VL53L0X_ERROR_NONE)
+		PALDevDataSet(Dev, CurrentParameters, CurrentParameters);
+
+
+	/* read the sequence config and save it */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_RdByte(Dev,
+		VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
+		if (Status == VL53L0X_ERROR_NONE)
+			PALDevDataSet(Dev, SequenceConfig, tempbyte);
+
+	}
+
+	/* Disable MSRC and TCC by default */
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetSequenceStepEnable(Dev,
+					VL53L0X_SEQUENCESTEP_TCC, 0);
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetSequenceStepEnable(Dev,
+		VL53L0X_SEQUENCESTEP_MSRC, 0);
+
+
+	/* Set PAL State to standby */
+	if (Status == VL53L0X_ERROR_NONE)
+		PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
+
+
+
+	/* Store pre-range vcsel period */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_GetVcselPulsePeriod(
+			Dev,
+			VL53L0X_VCSEL_PERIOD_PRE_RANGE,
+			&vcselPulsePeriodPCLK);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+			VL53L0X_SETDEVICESPECIFICPARAMETER(
+				Dev,
+				PreRangeVcselPulsePeriod,
+				vcselPulsePeriodPCLK);
+	}
+
+	/* Store final-range vcsel period */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_GetVcselPulsePeriod(
+			Dev,
+			VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
+			&vcselPulsePeriodPCLK);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+			VL53L0X_SETDEVICESPECIFICPARAMETER(
+				Dev,
+				FinalRangeVcselPulsePeriod,
+				vcselPulsePeriodPCLK);
+	}
+
+	/* Store pre-range timeout */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_GetSequenceStepTimeout(
+			Dev,
+			VL53L0X_SEQUENCESTEP_PRE_RANGE,
+			&seqTimeoutMilliSecs);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		VL53L0X_SETDEVICESPECIFICPARAMETER(
+			Dev,
+			PreRangeTimeoutMicroSecs,
+			seqTimeoutMilliSecs);
+	}
+
+	/* Store final-range timeout */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_GetSequenceStepTimeout(
+			Dev,
+			VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+			&seqTimeoutMilliSecs);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		VL53L0X_SETDEVICESPECIFICPARAMETER(
+			Dev,
+			FinalRangeTimeoutMicroSecs,
+			seqTimeoutMilliSecs);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented on VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Byte;
+	LOG_FUNCTION_START("");
+
+	/* Set reset bit */
+	Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N,
+		0x00);
+
+	/* Wait for some time */
+	if (Status == VL53L0X_ERROR_NONE) {
+		do {
+			Status = VL53L0X_RdByte(Dev,
+			VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte);
+		} while (Byte != 0x00);
+	}
+
+	/* Release reset */
+	Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N,
+		0x01);
+
+	/* Wait until correct boot-up of the device */
+	if (Status == VL53L0X_ERROR_NONE) {
+		do {
+			Status = VL53L0X_RdByte(Dev,
+			VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte);
+		} while (Byte == 0x00);
+	}
+
+	/* Set PAL State to VL53L0X_STATE_POWERDOWN */
+	if (Status == VL53L0X_ERROR_NONE)
+		PALDevDataSet(Dev, PalState, VL53L0X_STATE_POWERDOWN);
+
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+/* End Group PAL Init Functions */
+
+/* Group PAL Parameters Functions */
+VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev,
+	const VL53L0X_DeviceParameters_t *pDeviceParameters)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	int i;
+	LOG_FUNCTION_START("");
+	Status = VL53L0X_SetDeviceMode(Dev, pDeviceParameters->DeviceMode);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(Dev,
+			pDeviceParameters->InterMeasurementPeriodMilliSeconds);
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev,
+			pDeviceParameters->XTalkCompensationRateMegaCps);
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev,
+			pDeviceParameters->RangeOffsetMicroMeters);
+
+
+	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+		if (Status == VL53L0X_ERROR_NONE)
+			Status |= VL53L0X_SetLimitCheckEnable(Dev, i,
+				pDeviceParameters->LimitChecksEnable[i]);
+		else
+			break;
+
+		if (Status == VL53L0X_ERROR_NONE)
+			Status |= VL53L0X_SetLimitCheckValue(Dev, i,
+				pDeviceParameters->LimitChecksValue[i]);
+		else
+			break;
+
+	}
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetWrapAroundCheckEnable(Dev,
+			pDeviceParameters->WrapAroundCheckEnable);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
+			pDeviceParameters->MeasurementTimingBudgetMicroSeconds);
+
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
+	VL53L0X_DeviceParameters_t *pDeviceParameters)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	int i;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode));
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev,
+		&(pDeviceParameters->InterMeasurementPeriodMilliSeconds));
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		pDeviceParameters->XTalkCompensationEnable = 0;
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev,
+			&(pDeviceParameters->XTalkCompensationRateMegaCps));
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev,
+			&(pDeviceParameters->RangeOffsetMicroMeters));
+
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
+			/* get first the values, then the enables.
+			 * VL53L0X_GetLimitCheckValue will modify the enable
+			 * flags
+			 */
+			if (Status == VL53L0X_ERROR_NONE) {
+				Status |= VL53L0X_GetLimitCheckValue(Dev, i,
+				&(pDeviceParameters->LimitChecksValue[i]));
+			} else {
+				break;
+			}
+			if (Status == VL53L0X_ERROR_NONE) {
+				Status |= VL53L0X_GetLimitCheckEnable(Dev, i,
+				&(pDeviceParameters->LimitChecksEnable[i]));
+			} else {
+				break;
+			}
+		}
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_GetWrapAroundCheckEnable(Dev,
+			&(pDeviceParameters->WrapAroundCheckEnable));
+	}
+
+	/* Need to be done at the end as it uses VCSELPulsePeriod */
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev,
+		&(pDeviceParameters->MeasurementTimingBudgetMicroSeconds));
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("%d", (int)DeviceMode);
+
+	switch (DeviceMode) {
+	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
+	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
+	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
+	case VL53L0X_DEVICEMODE_GPIO_DRIVE:
+	case VL53L0X_DEVICEMODE_GPIO_OSC:
+		/* Supported modes */
+		VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode);
+		break;
+	default:
+		/* Unsupported mode */
+		Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
+	VL53L0X_DeviceModes *pDeviceMode)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev,	uint8_t Enable)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("%d", (int)Enable);
+
+	Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, Enable);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		PALDevDataSet(Dev, RangeFractionalEnable, Enable);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		*pEnabled = (*pEnabled & 1);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev,
+	VL53L0X_HistogramModes HistogramMode)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented on VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev,
+	VL53L0X_HistogramModes *pHistogramMode)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented on VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+	uint32_t MeasurementTimingBudgetMicroSeconds)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev,
+		MeasurementTimingBudgetMicroSeconds);
+
+	LOG_FUNCTION_END(Status);
+
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+	uint32_t *pMeasurementTimingBudgetMicroSeconds)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev,
+		pMeasurementTimingBudgetMicroSeconds);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
+	VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType,
+		VCSELPulsePeriodPCLK);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
+	VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType,
+		pVCSELPulsePeriodPCLK);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
+	VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t SequenceConfig = 0;
+	uint8_t SequenceConfigNew = 0;
+	uint32_t MeasurementTimingBudgetMicroSeconds;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+		&SequenceConfig);
+
+	SequenceConfigNew = SequenceConfig;
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (SequenceStepEnabled == 1) {
+
+			/* Enable requested sequence step
+			 */
+			switch (SequenceStepId) {
+			case VL53L0X_SEQUENCESTEP_TCC:
+				SequenceConfigNew |= 0x10;
+				break;
+			case VL53L0X_SEQUENCESTEP_DSS:
+				SequenceConfigNew |= 0x28;
+				break;
+			case VL53L0X_SEQUENCESTEP_MSRC:
+				SequenceConfigNew |= 0x04;
+				break;
+			case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+				SequenceConfigNew |= 0x40;
+				break;
+			case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+				SequenceConfigNew |= 0x80;
+				break;
+			default:
+				Status = VL53L0X_ERROR_INVALID_PARAMS;
+			}
+		} else {
+			/* Disable requested sequence step
+			 */
+			switch (SequenceStepId) {
+			case VL53L0X_SEQUENCESTEP_TCC:
+				SequenceConfigNew &= 0xef;
+				break;
+			case VL53L0X_SEQUENCESTEP_DSS:
+				SequenceConfigNew &= 0xd7;
+				break;
+			case VL53L0X_SEQUENCESTEP_MSRC:
+				SequenceConfigNew &= 0xfb;
+				break;
+			case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+				SequenceConfigNew &= 0xbf;
+				break;
+			case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+				SequenceConfigNew &= 0x7f;
+				break;
+			default:
+				Status = VL53L0X_ERROR_INVALID_PARAMS;
+			}
+		}
+	}
+
+	if (SequenceConfigNew != SequenceConfig) {
+		/* Apply New Setting */
+		if (Status == VL53L0X_ERROR_NONE) {
+			Status = VL53L0X_WrByte(Dev,
+			VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew);
+		}
+		if (Status == VL53L0X_ERROR_NONE)
+			PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew);
+
+
+		/* Recalculate timing budget */
+		if (Status == VL53L0X_ERROR_NONE) {
+			VL53L0X_GETPARAMETERFIELD(Dev,
+				MeasurementTimingBudgetMicroSeconds,
+				MeasurementTimingBudgetMicroSeconds);
+
+			VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
+				MeasurementTimingBudgetMicroSeconds);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+
+	return Status;
+}
+
+VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev,
+	VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
+	uint8_t *pSequenceStepEnabled)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	*pSequenceStepEnabled = 0;
+	LOG_FUNCTION_START("");
+
+	switch (SequenceStepId) {
+	case VL53L0X_SEQUENCESTEP_TCC:
+		*pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4;
+		break;
+	case VL53L0X_SEQUENCESTEP_DSS:
+		*pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3;
+		break;
+	case VL53L0X_SEQUENCESTEP_MSRC:
+		*pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2;
+		break;
+	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+		*pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6;
+		break;
+	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+		*pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7;
+		break;
+	default:
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev,
+	VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t SequenceConfig = 0;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+		&SequenceConfig);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = sequence_step_enabled(Dev, SequenceStepId,
+			SequenceConfig, pSequenceStepEnabled);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
+	VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t SequenceConfig = 0;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
+		&SequenceConfig);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = sequence_step_enabled(Dev,
+		VL53L0X_SEQUENCESTEP_TCC, SequenceConfig,
+			&pSchedulerSequenceSteps->TccOn);
+	}
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = sequence_step_enabled(Dev,
+		VL53L0X_SEQUENCESTEP_DSS, SequenceConfig,
+			&pSchedulerSequenceSteps->DssOn);
+	}
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = sequence_step_enabled(Dev,
+		VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig,
+			&pSchedulerSequenceSteps->MsrcOn);
+	}
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = sequence_step_enabled(Dev,
+		VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig,
+			&pSchedulerSequenceSteps->PreRangeOn);
+	}
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = sequence_step_enabled(Dev,
+		VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig,
+			&pSchedulerSequenceSteps->FinalRangeOn);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev,
+	uint8_t *pNumberOfSequenceSteps)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	*pNumberOfSequenceSteps = VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetSequenceStepsInfo(VL53L0X_SequenceStepId SequenceStepId,
+	char *pSequenceStepsString)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_sequence_steps_info(
+			SequenceStepId,
+			pSequenceStepsString);
+
+	LOG_FUNCTION_END(Status);
+
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev,
+	VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_Error Status1 = VL53L0X_ERROR_NONE;
+	uint32_t TimeoutMicroSeconds = ((TimeOutMilliSecs * 1000) + 0x8000)
+		>> 16;
+	uint32_t MeasurementTimingBudgetMicroSeconds;
+	FixPoint1616_t OldTimeOutMicroSeconds;
+
+	LOG_FUNCTION_START("");
+
+	/* Read back the current value in case we need to revert back to this.
+	 */
+	Status = get_sequence_step_timeout(Dev, SequenceStepId,
+		&OldTimeOutMicroSeconds);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = set_sequence_step_timeout(Dev, SequenceStepId,
+			TimeoutMicroSeconds);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		VL53L0X_GETPARAMETERFIELD(Dev,
+			MeasurementTimingBudgetMicroSeconds,
+			MeasurementTimingBudgetMicroSeconds);
+
+		/* At this point we don't know if the requested value is valid,
+		 therefore proceed to update the entire timing budget and
+		 if this fails, revert back to the previous value.
+		 */
+		Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev,
+			MeasurementTimingBudgetMicroSeconds);
+
+		if (Status != VL53L0X_ERROR_NONE) {
+			Status1 = set_sequence_step_timeout(Dev, SequenceStepId,
+				OldTimeOutMicroSeconds);
+
+			if (Status1 == VL53L0X_ERROR_NONE) {
+				Status1 =
+				VL53L0X_SetMeasurementTimingBudgetMicroSeconds(
+					Dev,
+					MeasurementTimingBudgetMicroSeconds);
+			}
+
+			Status = Status1;
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev,
+	VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t *pTimeOutMilliSecs)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint32_t TimeoutMicroSeconds;
+	uint32_t WholeNumber_ms = 0;
+	uint32_t Fraction_ms = 0;
+	LOG_FUNCTION_START("");
+
+	Status = get_sequence_step_timeout(Dev, SequenceStepId,
+		&TimeoutMicroSeconds);
+	if (Status == VL53L0X_ERROR_NONE) {
+		WholeNumber_ms = TimeoutMicroSeconds / 1000;
+		Fraction_ms = TimeoutMicroSeconds - (WholeNumber_ms * 1000);
+		*pTimeOutMilliSecs = (WholeNumber_ms << 16)
+			+ (((Fraction_ms * 0xffff) + 500) / 1000);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
+	uint32_t InterMeasurementPeriodMilliSeconds)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint16_t osc_calibrate_val;
+	uint32_t IMPeriodMilliSeconds;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
+		&osc_calibrate_val);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (osc_calibrate_val != 0) {
+			IMPeriodMilliSeconds =
+				InterMeasurementPeriodMilliSeconds
+					* osc_calibrate_val;
+		} else {
+			IMPeriodMilliSeconds =
+				InterMeasurementPeriodMilliSeconds;
+		}
+		Status = VL53L0X_WrDWord(Dev,
+		VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
+			IMPeriodMilliSeconds);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		VL53L0X_SETPARAMETERFIELD(Dev,
+			InterMeasurementPeriodMilliSeconds,
+			InterMeasurementPeriodMilliSeconds);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
+	uint32_t *pInterMeasurementPeriodMilliSeconds)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint16_t osc_calibrate_val;
+	uint32_t IMPeriodMilliSeconds;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
+		&osc_calibrate_val);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_RdDWord(Dev,
+		VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
+			&IMPeriodMilliSeconds);
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (osc_calibrate_val != 0) {
+			*pInterMeasurementPeriodMilliSeconds =
+				IMPeriodMilliSeconds / osc_calibrate_val;
+		}
+		VL53L0X_SETPARAMETERFIELD(Dev,
+			InterMeasurementPeriodMilliSeconds,
+			*pInterMeasurementPeriodMilliSeconds);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev,
+	uint8_t XTalkCompensationEnable)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	FixPoint1616_t TempFix1616;
+	uint16_t LinearityCorrectiveGain;
+
+	LOG_FUNCTION_START("");
+
+	LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain);
+
+	if ((XTalkCompensationEnable == 0)
+		|| (LinearityCorrectiveGain != 1000)) {
+		TempFix1616 = 0;
+	} else {
+		VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps,
+			TempFix1616);
+	}
+
+	/* the following register has a format 3.13 */
+	Status = VL53L0X_WrWord(Dev,
+	VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS,
+		VL53L0X_FIXPOINT1616TOFIXPOINT313(TempFix1616));
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (XTalkCompensationEnable == 0) {
+			VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+				0);
+		} else {
+			VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+				1);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
+	uint8_t *pXTalkCompensationEnable)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Temp8;
+	LOG_FUNCTION_START("");
+
+	VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8);
+	*pXTalkCompensationEnable = Temp8;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
+	FixPoint1616_t XTalkCompensationRateMegaCps)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Temp8;
+	uint16_t LinearityCorrectiveGain;
+	uint16_t data;
+	LOG_FUNCTION_START("");
+
+	VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8);
+	LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain);
+
+	if (Temp8 == 0) { /* disabled write only internal value */
+		VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps,
+			XTalkCompensationRateMegaCps);
+	} else {
+		/* the following register has a format 3.13 */
+		if (LinearityCorrectiveGain == 1000) {
+			data = VL53L0X_FIXPOINT1616TOFIXPOINT313(
+				XTalkCompensationRateMegaCps);
+		} else {
+			data = 0;
+		}
+
+		Status = VL53L0X_WrWord(Dev,
+		VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data);
+
+		if (Status == VL53L0X_ERROR_NONE) {
+			VL53L0X_SETPARAMETERFIELD(Dev,
+				XTalkCompensationRateMegaCps,
+				XTalkCompensationRateMegaCps);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
+	FixPoint1616_t *pXTalkCompensationRateMegaCps)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint16_t Value;
+	FixPoint1616_t TempFix1616;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdWord(Dev,
+	VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value);
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (Value == 0) {
+			/* the Xtalk is disabled return value from memory */
+			VL53L0X_GETPARAMETERFIELD(Dev,
+				XTalkCompensationRateMegaCps, TempFix1616);
+			*pXTalkCompensationRateMegaCps = TempFix1616;
+			VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+				0);
+		} else {
+			TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value);
+			*pXTalkCompensationRateMegaCps = TempFix1616;
+			VL53L0X_SETPARAMETERFIELD(Dev,
+				XTalkCompensationRateMegaCps, TempFix1616);
+			VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+				1);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, uint8_t VhvSettings,
+	uint8_t PhaseCal)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_set_ref_calibration(Dev, VhvSettings, PhaseCal);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
+	uint8_t *pPhaseCal)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_ref_calibration(Dev, pVhvSettings, pPhaseCal);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+/*
+ * CHECK LIMIT FUNCTIONS
+ */
+
+VL53L0X_Error VL53L0X_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	*pNumberOfLimitCheck = VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+	char *pLimitCheckString)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_limit_check_info(Dev, LimitCheckId,
+		pLimitCheckString);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+	uint8_t *pLimitCheckStatus)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Temp8;
+
+	LOG_FUNCTION_START("");
+
+	if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+	} else {
+
+		VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus,
+			LimitCheckId, Temp8);
+
+		*pLimitCheckStatus = Temp8;
+
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+	uint8_t LimitCheckEnable)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	FixPoint1616_t TempFix1616 = 0;
+	uint8_t LimitCheckEnableInt = 0;
+	uint8_t LimitCheckDisable = 0;
+	uint8_t Temp8;
+
+	LOG_FUNCTION_START("");
+
+	if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+	} else {
+		if (LimitCheckEnable == 0) {
+			TempFix1616 = 0;
+			LimitCheckEnableInt = 0;
+			LimitCheckDisable = 1;
+
+		} else {
+			VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+				LimitCheckId, TempFix1616);
+			LimitCheckDisable = 0;
+			/* this to be sure to have either 0 or 1 */
+			LimitCheckEnableInt = 1;
+		}
+
+		switch (LimitCheckId) {
+
+		case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+			/* internal computation: */
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+				VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+				LimitCheckEnableInt);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+			Status = VL53L0X_WrWord(Dev,
+			VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+				VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616));
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+			/* internal computation: */
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+				VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+				LimitCheckEnableInt);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+			/* internal computation: */
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+				VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+				LimitCheckEnableInt);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+
+			Temp8 = (uint8_t)(LimitCheckDisable << 1);
+			Status = VL53L0X_UpdateByte(Dev,
+				VL53L0X_REG_MSRC_CONFIG_CONTROL,
+				0xFE, Temp8);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+			Temp8 = (uint8_t)(LimitCheckDisable << 4);
+			Status = VL53L0X_UpdateByte(Dev,
+				VL53L0X_REG_MSRC_CONFIG_CONTROL,
+				0xEF, Temp8);
+
+			break;
+
+
+		default:
+			Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+		}
+
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (LimitCheckEnable == 0) {
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+				LimitCheckId, 0);
+		} else {
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+				LimitCheckId, 1);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+	uint8_t *pLimitCheckEnable)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Temp8;
+
+	LOG_FUNCTION_START("");
+
+	if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+		*pLimitCheckEnable = 0;
+	} else {
+		VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable,
+			LimitCheckId, Temp8);
+		*pLimitCheckEnable = Temp8;
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+	FixPoint1616_t LimitCheckValue)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Temp8;
+
+	LOG_FUNCTION_START("");
+
+	VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId,
+		Temp8);
+
+	if (Temp8 == 0) { /* disabled write only internal value */
+		VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+			LimitCheckId, LimitCheckValue);
+	} else {
+
+		switch (LimitCheckId) {
+
+		case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+			/* internal computation: */
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+				VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
+				LimitCheckValue);
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+
+			Status = VL53L0X_WrWord(Dev,
+			VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+				VL53L0X_FIXPOINT1616TOFIXPOINT97(
+					LimitCheckValue));
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+
+			/* internal computation: */
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+				VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
+				LimitCheckValue);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+
+			/* internal computation: */
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+				VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
+				LimitCheckValue);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+
+			Status = VL53L0X_WrWord(Dev,
+				VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+				VL53L0X_FIXPOINT1616TOFIXPOINT97(
+					LimitCheckValue));
+
+			break;
+
+		default:
+			Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+		}
+
+		if (Status == VL53L0X_ERROR_NONE) {
+			VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+				LimitCheckId, LimitCheckValue);
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+	FixPoint1616_t *pLimitCheckValue)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t EnableZeroValue = 0;
+	uint16_t Temp16;
+	FixPoint1616_t TempFix1616;
+
+	LOG_FUNCTION_START("");
+
+	switch (LimitCheckId) {
+
+	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+		/* internal computation: */
+		VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+			VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616);
+		EnableZeroValue = 0;
+		break;
+
+	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+		Status = VL53L0X_RdWord(Dev,
+		VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+			&Temp16);
+		if (Status == VL53L0X_ERROR_NONE)
+			TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
+
+
+		EnableZeroValue = 1;
+		break;
+
+	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+		/* internal computation: */
+		VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+			VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616);
+		EnableZeroValue = 0;
+		break;
+
+	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+		/* internal computation: */
+		VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue,
+			VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616);
+		EnableZeroValue = 0;
+		break;
+
+	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+		Status = VL53L0X_RdWord(Dev,
+			VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+			&Temp16);
+		if (Status == VL53L0X_ERROR_NONE)
+			TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16);
+
+
+		EnableZeroValue = 0;
+		break;
+
+	default:
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+
+		if (EnableZeroValue == 1) {
+
+			if (TempFix1616 == 0) {
+				/* disabled: return value from memory */
+				VL53L0X_GETARRAYPARAMETERFIELD(Dev,
+					LimitChecksValue, LimitCheckId,
+					TempFix1616);
+				*pLimitCheckValue = TempFix1616;
+				VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+					LimitChecksEnable, LimitCheckId, 0);
+			} else {
+				*pLimitCheckValue = TempFix1616;
+				VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+					LimitChecksValue, LimitCheckId,
+					TempFix1616);
+				VL53L0X_SETARRAYPARAMETERFIELD(Dev,
+					LimitChecksEnable, LimitCheckId, 1);
+			}
+		} else {
+			*pLimitCheckValue = TempFix1616;
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+
+}
+
+VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+	FixPoint1616_t *pLimitCheckCurrent)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_RangingMeasurementData_t LastRangeDataBuffer;
+
+	LOG_FUNCTION_START("");
+
+	if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+	} else {
+		switch (LimitCheckId) {
+		case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
+			/* Need to run a ranging to have the latest values */
+			*pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
+			/* Need to run a ranging to have the latest values */
+			LastRangeDataBuffer = PALDevDataGet(Dev,
+				LastRangeMeasure);
+			*pLimitCheckCurrent =
+				LastRangeDataBuffer.SignalRateRtnMegaCps;
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
+			/* Need to run a ranging to have the latest values */
+			*pLimitCheckCurrent = PALDevDataGet(Dev,
+				LastSignalRefMcps);
+
+			break;
+
+		case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
+			/* Need to run a ranging to have the latest values */
+			LastRangeDataBuffer = PALDevDataGet(Dev,
+				LastRangeMeasure);
+			*pLimitCheckCurrent =
+				LastRangeDataBuffer.SignalRateRtnMegaCps;
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
+			/* Need to run a ranging to have the latest values */
+			LastRangeDataBuffer = PALDevDataGet(Dev,
+				LastRangeMeasure);
+			*pLimitCheckCurrent =
+				LastRangeDataBuffer.SignalRateRtnMegaCps;
+
+			break;
+
+		case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
+			/* Need to run a ranging to have the latest values */
+			LastRangeDataBuffer = PALDevDataGet(Dev,
+				LastRangeMeasure);
+			*pLimitCheckCurrent =
+				LastRangeDataBuffer.SignalRateRtnMegaCps;
+
+			break;
+
+		default:
+			Status = VL53L0X_ERROR_INVALID_PARAMS;
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+
+}
+
+/*
+ * WRAPAROUND Check
+ */
+VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev,
+	uint8_t WrapAroundCheckEnable)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Byte;
+	uint8_t WrapAroundCheckEnableInt;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &Byte);
+	if (WrapAroundCheckEnable == 0) {
+		/* Disable wraparound */
+		Byte = Byte & 0x7F;
+		WrapAroundCheckEnableInt = 0;
+	} else {
+		/*Enable wraparound */
+		Byte = Byte | 0x80;
+		WrapAroundCheckEnableInt = 1;
+	}
+
+	Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, Byte);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		PALDevDataSet(Dev, SequenceConfig, Byte);
+		VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable,
+			WrapAroundCheckEnableInt);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
+	uint8_t *pWrapAroundCheckEnable)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t data;
+
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
+	if (Status == VL53L0X_ERROR_NONE) {
+		PALDevDataSet(Dev, SequenceConfig, data);
+		if (data & (0x01 << 7))
+			*pWrapAroundCheckEnable = 0x01;
+		else
+			*pWrapAroundCheckEnable = 0x00;
+	}
+	if (Status == VL53L0X_ERROR_NONE) {
+		VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable,
+			*pWrapAroundCheckEnable);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetDmaxCalParameters(VL53L0X_DEV Dev,
+	uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	FixPoint1616_t SignalRateRtnMegaCpsTemp = 0;
+
+	LOG_FUNCTION_START("");
+
+	/* Check if one of input parameter is zero, in that case the
+	 * value are get from NVM */
+	if ((RangeMilliMeter == 0) || (SignalRateRtnMegaCps == 0)) {
+		/* NVM parameters */
+		/* Run VL53L0X_get_info_from_device wit option 4 to get
+		 * signal rate at 400 mm if the value have been already
+		 * get this function will return with no access to device */
+		VL53L0X_get_info_from_device(Dev, 4);
+
+		SignalRateRtnMegaCpsTemp = VL53L0X_GETDEVICESPECIFICPARAMETER(
+			Dev, SignalRateMeasFixed400mm);
+
+		PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
+		PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps,
+			SignalRateRtnMegaCpsTemp);
+	} else {
+		/* User parameters */
+		PALDevDataSet(Dev, DmaxCalRangeMilliMeter, RangeMilliMeter);
+		PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps,
+			SignalRateRtnMegaCps);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetDmaxCalParameters(VL53L0X_DEV Dev,
+	uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	*pRangeMilliMeter = PALDevDataGet(Dev, DmaxCalRangeMilliMeter);
+	*pSignalRateRtnMegaCps = PALDevDataGet(Dev,
+		DmaxCalSignalRateRtnMegaCps);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+/* End Group PAL Parameters Functions */
+
+/* Group PAL Measurement Functions */
+VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_DeviceModes DeviceMode;
+
+	LOG_FUNCTION_START("");
+
+	/* Get Current DeviceMode */
+	Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode);
+
+	/* Start immediately to run a single ranging measurement in case of
+	 * single ranging or single histogram */
+	if (Status == VL53L0X_ERROR_NONE
+		&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+		Status = VL53L0X_StartMeasurement(Dev);
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_measurement_poll_for_completion(Dev);
+
+
+	/* Change PAL State in case of single ranging or single histogram */
+	if (Status == VL53L0X_ERROR_NONE
+		&& DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+		PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
+
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement(VL53L0X_DEV Dev,
+	VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented on VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
+	uint8_t *pPhaseCal)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings,
+		pPhaseCal, 1);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev,
+	uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad,
+	uint8_t *pAmbientTooHigh)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented on VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev,
+	FixPoint1616_t XTalkCalDistance,
+	FixPoint1616_t *pXTalkCompensationRateMegaCps)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_perform_xtalk_calibration(Dev, XTalkCalDistance,
+		pXTalkCompensationRateMegaCps);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev,
+	FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_perform_offset_calibration(Dev, CalDistanceMilliMeter,
+		pOffsetMicroMeter);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
+	uint8_t StartNotStopFlag)
+{
+	uint8_t InterruptConfig;
+	FixPoint1616_t ThresholdLow;
+	FixPoint1616_t ThresholdHigh;
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+		Pin0GpioFunctionality);
+
+	if ((InterruptConfig ==
+		VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
+		(InterruptConfig ==
+		VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
+		(InterruptConfig ==
+		VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
+
+		Status = VL53L0X_GetInterruptThresholds(Dev,
+			VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+			&ThresholdLow, &ThresholdHigh);
+
+		if (((ThresholdLow > 255*65536) ||
+			(ThresholdHigh > 255*65536)) &&
+			(Status == VL53L0X_ERROR_NONE)) {
+
+			if (StartNotStopFlag != 0) {
+				Status = VL53L0X_load_tuning_settings(Dev,
+					InterruptThresholdSettings);
+			} else {
+				Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04);
+				Status |= VL53L0X_WrByte(Dev, 0x70, 0x00);
+				Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+				Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
+			}
+
+		}
+
+
+	}
+
+	return Status;
+
+}
+
+
+VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_DeviceModes DeviceMode;
+	uint8_t Byte;
+	uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
+	uint32_t LoopNb;
+	LOG_FUNCTION_START("");
+
+	/* Get Current DeviceMode */
+	VL53L0X_GetDeviceMode(Dev, &DeviceMode);
+
+	Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+	Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+	Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable));
+	Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+	Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+
+	switch (DeviceMode) {
+	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
+		Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01);
+
+		Byte = StartStopByte;
+		if (Status == VL53L0X_ERROR_NONE) {
+			/* Wait until start bit has been cleared */
+			LoopNb = 0;
+			do {
+				if (LoopNb > 0)
+					Status = VL53L0X_RdByte(Dev,
+					VL53L0X_REG_SYSRANGE_START, &Byte);
+				LoopNb = LoopNb + 1;
+			} while (((Byte & StartStopByte) == StartStopByte)
+				&& (Status == VL53L0X_ERROR_NONE)
+				&& (LoopNb < VL53L0X_DEFAULT_MAX_LOOP));
+
+			if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
+				Status = VL53L0X_ERROR_TIME_OUT;
+
+		}
+
+		break;
+	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
+		/* Back-to-back mode */
+
+		/* Check if need to apply interrupt settings */
+		if (Status == VL53L0X_ERROR_NONE)
+			Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
+
+		Status = VL53L0X_WrByte(Dev,
+		VL53L0X_REG_SYSRANGE_START,
+		VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
+		if (Status == VL53L0X_ERROR_NONE) {
+			/* Set PAL State to Running */
+			PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING);
+		}
+		break;
+	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
+		/* Continuous mode */
+		/* Check if need to apply interrupt settings */
+		if (Status == VL53L0X_ERROR_NONE)
+			Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
+
+		Status = VL53L0X_WrByte(Dev,
+		VL53L0X_REG_SYSRANGE_START,
+		VL53L0X_REG_SYSRANGE_MODE_TIMED);
+
+		if (Status == VL53L0X_ERROR_NONE) {
+			/* Set PAL State to Running */
+			PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING);
+		}
+		break;
+	default:
+		/* Selected mode not supported */
+		Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+	}
+
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START,
+	VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
+
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+	Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+	Status = VL53L0X_WrByte(Dev, 0x91, 0x00);
+	Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		/* Set PAL State to Idle */
+		PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);
+	}
+
+	/* Check if need to apply interrupt settings */
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
+	uint8_t *pMeasurementDataReady)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t SysRangeStatusRegister;
+	uint8_t InterruptConfig;
+	uint32_t InterruptMask;
+	LOG_FUNCTION_START("");
+
+	InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
+		Pin0GpioFunctionality);
+
+	if (InterruptConfig ==
+		VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
+		Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask);
+		if (InterruptMask ==
+		VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY)
+			*pMeasurementDataReady = 1;
+		else
+			*pMeasurementDataReady = 0;
+	} else {
+		Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS,
+			&SysRangeStatusRegister);
+		if (Status == VL53L0X_ERROR_NONE) {
+			if (SysRangeStatusRegister & 0x01)
+				*pMeasurementDataReady = 1;
+			else
+				*pMeasurementDataReady = 0;
+		}
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement(VL53L0X_DEV Dev,
+	uint32_t MaxLoop)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented for VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+
+VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev,
+	VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t DeviceRangeStatus;
+	uint8_t RangeFractionalEnable;
+	uint8_t PalRangeStatus;
+	uint8_t XTalkCompensationEnable;
+	uint16_t AmbientRate;
+	FixPoint1616_t SignalRate;
+	uint16_t XTalkCompensationRateMegaCps;
+	uint16_t EffectiveSpadRtnCount;
+	uint16_t tmpuint16;
+	uint16_t XtalkRangeMilliMeter;
+	uint16_t LinearityCorrectiveGain;
+	uint8_t localBuffer[12];
+	VL53L0X_RangingMeasurementData_t LastRangeDataBuffer;
+
+	LOG_FUNCTION_START("");
+
+	/*
+	 * use multi read even if some registers are not useful, result will
+	 * be more efficient
+	 * start reading at 0x14 dec20
+	 * end reading at 0x21 dec33 total 14 bytes to read
+	 */
+	Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+
+		pRangingMeasurementData->ZoneId = 0; /* Only one zone */
+		pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */
+
+		tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
+		/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
+		 *(format 11.2) else no fractional
+		 */
+
+		pRangingMeasurementData->MeasurementTimeUsec = 0;
+
+		SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
+			VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
+		/* peak_signal_count_rate_rtn_mcps */
+		pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate;
+
+		AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
+		pRangingMeasurementData->AmbientRateRtnMegaCps =
+			VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate);
+
+		EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3],
+			localBuffer[2]);
+		/* EffectiveSpadRtnCount is 8.8 format */
+		pRangingMeasurementData->EffectiveSpadRtnCount =
+			EffectiveSpadRtnCount;
+
+		DeviceRangeStatus = localBuffer[0];
+
+		/* Get Linearity Corrective Gain */
+		LinearityCorrectiveGain = PALDevDataGet(Dev,
+			LinearityCorrectiveGain);
+
+		/* Get ranging configuration */
+		RangeFractionalEnable = PALDevDataGet(Dev,
+			RangeFractionalEnable);
+
+		if (LinearityCorrectiveGain != 1000) {
+
+			tmpuint16 = (uint16_t)((LinearityCorrectiveGain
+				* tmpuint16 + 500) / 1000);
+
+			/* Implement Xtalk */
+			VL53L0X_GETPARAMETERFIELD(Dev,
+				XTalkCompensationRateMegaCps,
+				XTalkCompensationRateMegaCps);
+			VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable,
+				XTalkCompensationEnable);
+
+			if (XTalkCompensationEnable) {
+
+				if ((SignalRate
+					- ((XTalkCompensationRateMegaCps
+					* EffectiveSpadRtnCount) >> 8))
+					<= 0) {
+					if (RangeFractionalEnable)
+						XtalkRangeMilliMeter = 8888;
+					else
+						XtalkRangeMilliMeter = 8888
+							<< 2;
+				} else {
+					XtalkRangeMilliMeter =
+					(tmpuint16 * SignalRate)
+						/ (SignalRate
+						- ((XTalkCompensationRateMegaCps
+						* EffectiveSpadRtnCount)
+						>> 8));
+				}
+
+				tmpuint16 = XtalkRangeMilliMeter;
+			}
+
+		}
+
+		if (RangeFractionalEnable) {
+			pRangingMeasurementData->RangeMilliMeter =
+				(uint16_t)((tmpuint16) >> 2);
+			pRangingMeasurementData->RangeFractionalPart =
+				(uint8_t)((tmpuint16 & 0x03) << 6);
+		} else {
+			pRangingMeasurementData->RangeMilliMeter = tmpuint16;
+			pRangingMeasurementData->RangeFractionalPart = 0;
+		}
+
+		/*
+		 * For a standard definition of RangeStatus, this should
+		 * return 0 in case of good result after a ranging
+		 * The range status depends on the device so call a device
+		 * specific function to obtain the right Status.
+		 */
+		Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus,
+			SignalRate, EffectiveSpadRtnCount,
+			pRangingMeasurementData, &PalRangeStatus);
+
+		if (Status == VL53L0X_ERROR_NONE)
+			pRangingMeasurementData->RangeStatus = PalRangeStatus;
+
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		/* Copy last read data into Dev buffer */
+		LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure);
+
+		LastRangeDataBuffer.RangeMilliMeter =
+			pRangingMeasurementData->RangeMilliMeter;
+		LastRangeDataBuffer.RangeFractionalPart =
+			pRangingMeasurementData->RangeFractionalPart;
+		LastRangeDataBuffer.RangeDMaxMilliMeter =
+			pRangingMeasurementData->RangeDMaxMilliMeter;
+		LastRangeDataBuffer.MeasurementTimeUsec =
+			pRangingMeasurementData->MeasurementTimeUsec;
+		LastRangeDataBuffer.SignalRateRtnMegaCps =
+			pRangingMeasurementData->SignalRateRtnMegaCps;
+		LastRangeDataBuffer.AmbientRateRtnMegaCps =
+			pRangingMeasurementData->AmbientRateRtnMegaCps;
+		LastRangeDataBuffer.EffectiveSpadRtnCount =
+			pRangingMeasurementData->EffectiveSpadRtnCount;
+		LastRangeDataBuffer.RangeStatus =
+			pRangingMeasurementData->RangeStatus;
+
+		PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev,
+	FixPoint1616_t *pMeasurementRefSignal)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	*pMeasurementRefSignal = PALDevDataGet(Dev, LastSignalRefMcps);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+
+}
+
+VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev,
+	VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
+	VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	/* This function will do a complete single ranging
+	 * Here we fix the mode! */
+	Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_PerformSingleMeasurement(Dev);
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_GetRangingMeasurementData(Dev,
+			pRangingMeasurementData);
+
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_ClearInterruptMask(Dev, 0);
+
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev,
+	uint8_t NumberOfROIZones)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	if (NumberOfROIZones != 1)
+		Status = VL53L0X_ERROR_INVALID_PARAMS;
+
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev,
+	uint8_t *pNumberOfROIZones)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	*pNumberOfROIZones = 1;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev,
+	uint8_t *pMaxNumberOfROIZones)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+
+	LOG_FUNCTION_START("");
+
+	*pMaxNumberOfROIZones = 1;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+/* End Group PAL Measurement Functions */
+
+VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
+	VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
+	VL53L0X_InterruptPolarity Polarity)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t data;
+
+	LOG_FUNCTION_START("");
+
+	if (Pin != 0) {
+		Status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
+	} else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
+		if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
+			data = 0x10;
+		else
+			data = 1;
+
+		Status = VL53L0X_WrByte(Dev,
+		VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
+
+	} else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) {
+
+		Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+		Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+
+		Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+		Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
+		Status |= VL53L0X_WrByte(Dev, 0x85, 0x02);
+
+		Status |= VL53L0X_WrByte(Dev, 0xff, 0x04);
+		Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00);
+		Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11);
+
+		Status |= VL53L0X_WrByte(Dev, 0xff, 0x07);
+		Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00);
+
+		Status |= VL53L0X_WrByte(Dev, 0xff, 0x06);
+		Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09);
+
+		Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
+		Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
+		Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
+
+	} else {
+
+		if (Status == VL53L0X_ERROR_NONE) {
+			switch (Functionality) {
+			case VL53L0X_GPIOFUNCTIONALITY_OFF:
+				data = 0x00;
+				break;
+			case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
+				data = 0x01;
+				break;
+			case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
+				data = 0x02;
+				break;
+			case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
+				data = 0x03;
+				break;
+			case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
+				data = 0x04;
+				break;
+			default:
+				Status =
+				VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
+			}
+		}
+
+		if (Status == VL53L0X_ERROR_NONE)
+			Status = VL53L0X_WrByte(Dev,
+			VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
+
+		if (Status == VL53L0X_ERROR_NONE) {
+			if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
+				data = 0;
+			else
+				data = (uint8_t)(1 << 4);
+
+			Status = VL53L0X_UpdateByte(Dev,
+			VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
+		}
+
+		if (Status == VL53L0X_ERROR_NONE)
+			VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
+				Pin0GpioFunctionality, Functionality);
+
+		if (Status == VL53L0X_ERROR_NONE)
+			Status = VL53L0X_ClearInterruptMask(Dev, 0);
+
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
+	VL53L0X_DeviceModes *pDeviceMode,
+	VL53L0X_GpioFunctionality *pFunctionality,
+	VL53L0X_InterruptPolarity *pPolarity)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	VL53L0X_GpioFunctionality GpioFunctionality;
+	uint8_t data;
+
+	LOG_FUNCTION_START("");
+
+	/* pDeviceMode not managed by Ewok it return the current mode */
+
+	Status = VL53L0X_GetDeviceMode(Dev, pDeviceMode);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if (Pin != 0) {
+			Status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
+		} else {
+			Status = VL53L0X_RdByte(Dev,
+			VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data);
+		}
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		switch (data & 0x07) {
+		case 0x00:
+			GpioFunctionality = VL53L0X_GPIOFUNCTIONALITY_OFF;
+			break;
+		case 0x01:
+			GpioFunctionality =
+			VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW;
+			break;
+		case 0x02:
+			GpioFunctionality =
+			VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH;
+			break;
+		case 0x03:
+			GpioFunctionality =
+			VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT;
+			break;
+		case 0x04:
+			GpioFunctionality =
+			VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY;
+			break;
+		default:
+			Status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
+		}
+	}
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_RdByte(Dev, VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH,
+			&data);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		if ((data & (uint8_t)(1 << 4)) == 0)
+			*pPolarity = VL53L0X_INTERRUPTPOLARITY_LOW;
+		else
+			*pPolarity = VL53L0X_INTERRUPTPOLARITY_HIGH;
+	}
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		*pFunctionality = GpioFunctionality;
+		VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality,
+			GpioFunctionality);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev,
+	VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow,
+	FixPoint1616_t ThresholdHigh)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint16_t Threshold16;
+	LOG_FUNCTION_START("");
+
+	/* no dependency on DeviceMode for Ewok */
+	/* Need to divide by 2 because the FW will apply a x2 */
+	Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff);
+	Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, Threshold16);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		/* Need to divide by 2 because the FW will apply a x2 */
+		Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff);
+		Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
+			Threshold16);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
+	VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
+	FixPoint1616_t *pThresholdHigh)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint16_t Threshold16;
+	LOG_FUNCTION_START("");
+
+	/* no dependency on DeviceMode for Ewok */
+
+	Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16);
+	/* Need to multiply by 2 because the FW will apply a x2 */
+	*pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17);
+
+	if (Status == VL53L0X_ERROR_NONE) {
+		Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
+			&Threshold16);
+		/* Need to multiply by 2 because the FW will apply a x2 */
+		*pThresholdHigh =
+			(FixPoint1616_t)((0x00fff & Threshold16) << 17);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
+	uint32_t *pStopStatus)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Byte = 0;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_RdByte(Dev, 0x04, &Byte);
+
+	if (Status == VL53L0X_ERROR_NONE)
+		Status = VL53L0X_WrByte(Dev, 0xFF, 0x0);
+
+	*pStopStatus = Byte;
+	
+	if (Byte == 0) {
+		Status = VL53L0X_WrByte(Dev, 0x80, 0x01);
+		Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+		Status = VL53L0X_WrByte(Dev, 0x00, 0x00);
+		Status = VL53L0X_WrByte(Dev, 0x91,
+			PALDevDataGet(Dev, StopVariable));
+		Status = VL53L0X_WrByte(Dev, 0x00, 0x01);
+		Status = VL53L0X_WrByte(Dev, 0xFF, 0x00);
+		Status = VL53L0X_WrByte(Dev, 0x80, 0x00);
+	}
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+/* Group PAL Interrupt Functions */
+VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t LoopCount;
+	uint8_t Byte;
+	LOG_FUNCTION_START("");
+
+	/* clear bit 0 range interrupt, bit 1 error interrupt */
+	LoopCount = 0;
+	do {
+		Status = VL53L0X_WrByte(Dev,
+			VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
+		Status |= VL53L0X_WrByte(Dev,
+			VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
+		Status |= VL53L0X_RdByte(Dev,
+			VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
+		LoopCount++;
+	} while (((Byte & 0x07) != 0x00)
+			&& (LoopCount < 3)
+			&& (Status == VL53L0X_ERROR_NONE));
+
+
+	if (LoopCount >= 3)
+		Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
+	uint32_t *pInterruptMaskStatus)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Byte;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte);
+	*pInterruptMaskStatus = Byte & 0x07;
+
+	if (Byte & 0x18)
+		Status = VL53L0X_ERROR_RANGE_ERROR;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED;
+	LOG_FUNCTION_START("");
+
+	/* not implemented for VL53L0X */
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+/* End Group PAL Interrupt Functions */
+
+/* Group SPAD functions */
+
+VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev,
+	uint16_t SpadAmbientDamperThreshold)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+	Status |= VL53L0X_WrWord(Dev, 0x40, SpadAmbientDamperThreshold);
+	Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev,
+	uint16_t *pSpadAmbientDamperThreshold)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+	Status |= VL53L0X_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold);
+	Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev,
+	uint16_t SpadAmbientDamperFactor)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Byte;
+	LOG_FUNCTION_START("");
+
+	Byte = (uint8_t)(SpadAmbientDamperFactor & 0x00FF);
+
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+	Status |= VL53L0X_WrByte(Dev, 0x42, Byte);
+	Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev,
+	uint16_t *pSpadAmbientDamperFactor)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	uint8_t Byte;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
+	Status |= VL53L0X_RdByte(Dev, 0x42, &Byte);
+	Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
+	*pSpadAmbientDamperFactor = (uint16_t)Byte;
+
+	LOG_FUNCTION_END(Status);
+	return Status;
+}
+
+/* END Group SPAD functions */
+
+/*****************************************************************************
+ * Internal functions
+ *****************************************************************************/
+
+VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, uint32_t count,
+	uint8_t isApertureSpads)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_set_reference_spads(Dev, count, isApertureSpads);
+
+	LOG_FUNCTION_END(Status);
+
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, uint32_t *pSpadCount,
+	uint8_t *pIsApertureSpads)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_get_reference_spads(Dev, pSpadCount, pIsApertureSpads);
+
+	LOG_FUNCTION_END(Status);
+
+	return Status;
+}
+
+VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
+	uint32_t *refSpadCount, uint8_t *isApertureSpads)
+{
+	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+	LOG_FUNCTION_START("");
+
+	Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount,
+		isApertureSpads);
+
+	LOG_FUNCTION_END(Status);
+
+	return Status;
+}