VL53L5CX.h

//
// Created by romain on 5/18/25.
//
 
#ifndef VL53L5CX_H
#define VL53L5CX_H
 
#include <Wire.h>
 
#include "Arduino.h"
#include "platform.h"
#include "vl53l5cx_api.h"
 
#define VL53L5CX_SENSOR_FOV 45.0F
 
class VL53L5CX {
  public:
    VL53L5CX(i2c_t *i2c)
    {
      memset((void *)&_dev, 0x0, sizeof(VL53L5CX_Configuration));
      _dev.platform.address = VL53L5CX_DEFAULT_I2C_ADDRESS;
      _dev.platform.dev_i2c = i2c;
      p_dev = &_dev;
    }
 

    virtual ~VL53L5CX() {}
    /* warning: VL53LX class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
       The warning should request to introduce a virtual destructor to make sure to delete the object */

    int init_sensor(uint8_t addr = VL53L5CX_DEFAULT_I2C_ADDRESS)
    {
      uint8_t status = VL53L5CX_STATUS_OK;
      uint8_t isAlive = 0;
 
      if (addr != _dev.platform.address) {
        status = vl53l5cx_set_i2c_address(addr);
        if (status != VL53L5CX_STATUS_OK) {
          return VL53L5CX_STATUS_ERROR;
        }
      }
 
      status = vl53l5cx_is_alive(&isAlive);
      if (!isAlive || status != VL53L5CX_STATUS_OK) {
        return VL53L5CX_STATUS_ERROR;
      }
 
      // Init VL53L5CX sensor
      status = vl53l5cx_init();
      if (status != VL53L5CX_STATUS_OK) {
        return VL53L5CX_STATUS_ERROR;
      }
 
      return (int)status;
    }
 
 
    /* vl53l5cx_api.h */
    uint8_t vl53l5cx_is_alive(
      uint8_t       *p_is_alive);

 
    uint8_t vl53l5cx_init();

 
    uint8_t vl53l5cx_set_i2c_address(
      uint16_t      i2c_address);

 
    uint8_t vl53l5cx_get_power_mode(
      uint8_t       *p_power_mode);

 
    uint8_t vl53l5cx_set_power_mode(
      uint8_t       power_mode);

 
    uint8_t vl53l5cx_start_ranging();

 
    uint8_t vl53l5cx_stop_ranging();

 
    uint8_t vl53l5cx_check_data_ready(
      uint8_t       *p_isReady);

 
    uint8_t vl53l5cx_get_ranging_data(
      VL53L5CX_ResultsData    *p_results);

 
    uint8_t vl53l5cx_get_resolution(
      uint8_t       *p_resolution);

 
    uint8_t vl53l5cx_set_resolution(
      uint8_t                         resolution);

 
    uint8_t vl53l5cx_get_ranging_frequency_hz(
      uint8_t       *p_frequency_hz);

 
    uint8_t vl53l5cx_set_ranging_frequency_hz(
      uint8_t       frequency_hz);

 
    uint8_t vl53l5cx_get_integration_time_ms(
      uint32_t      *p_time_ms);

 
    uint8_t vl53l5cx_set_integration_time_ms(
      uint32_t      integration_time_ms);

 
    uint8_t vl53l5cx_get_sharpener_percent(
      uint8_t       *p_sharpener_percent);

 
    uint8_t vl53l5cx_set_sharpener_percent(
      uint8_t       sharpener_percent);

 
    uint8_t vl53l5cx_get_target_order(
      uint8_t       *p_target_order);

 
    uint8_t vl53l5cx_set_target_order(
      uint8_t       target_order);

 
    uint8_t vl53l5cx_get_ranging_mode(
      uint8_t       *p_ranging_mode);

 
    uint8_t vl53l5cx_set_ranging_mode(
      uint8_t       ranging_mode);

 
    uint8_t vl53l5cx_dci_read_data(
      uint8_t       *data,
      uint32_t      index,
      uint16_t      data_size);

 
    uint8_t vl53l5cx_dci_write_data(
      uint8_t       *data,
      uint32_t      index,
      uint16_t      data_size);

 
    uint8_t vl53l5cx_dci_replace_data(
      uint8_t       *data,
      uint32_t      index,
      uint16_t      data_size,
      uint8_t       *new_data,
      uint16_t      new_data_size,
      uint16_t      new_data_pos);
 
    void SwapBuffer(
      uint8_t     *buffer,
      uint16_t     size);
 
    /* Helpful APIs */
    uint8_t get_stream_count(void)
    {
      return _dev.streamcount;
    };
 
  /* VL53L5CX Device */
  VL53L5CX_Configuration _dev;
  VL53L5CX_Configuration *p_dev;
 
 
  protected:

    uint8_t _vl53l5cx_poll_for_answer(
      uint8_t       size,
      uint8_t       pos,
      uint16_t      address,
      uint8_t       mask,
      uint8_t       expected_value);
 
  uint8_t _vl53l5cx_poll_for_mcu_boot();

    uint8_t _vl53l5cx_send_offset_data(
      uint8_t       resolution);
 

    uint8_t _vl53l5cx_send_xtalk_data(
      uint8_t       resolution);

    uint8_t _vl53l5cx_poll_for_answer_xtalk(
      uint16_t      address,
      uint8_t       expected_value);

    uint8_t _vl53l5cx_program_output_config();
 
    /* Platform APIs */

 
    uint8_t RdByte(
      VL53L5CX_Platform *p_platform,
      uint16_t RegisterAddress,
      uint8_t *p_value);

 
    uint8_t WrByte(
      VL53L5CX_Platform *p_platform,
      uint16_t RegisterAddress,
      uint8_t value);

 
    uint8_t RdMulti(
      VL53L5CX_Platform *p_platform,
      uint16_t RegisterAddress,
      uint8_t *p_values,
      uint32_t size);

 
    uint8_t WrMulti(
      VL53L5CX_Platform *p_platform,
      uint16_t RegisterAddress,
      uint8_t *p_values,
      uint32_t size);

 
    uint8_t WaitMs(
      VL53L5CX_Platform *p_platform,
      uint32_t TimeMs);
 
  uint8_t vl53l5cx_set_VHV_repeat_count(
    uint32_t repeat_count);
 
  uint8_t vl53l5cx_get_VHV_repeat_count(
    uint32_t *p_repeat_count);
 
  uint8_t vl53l5cx_disable_internal_cp();
 
  uint8_t vl53l5cx_enable_internal_cp();
};
 
 
 
#endif //VL53L5CX_H