text: 
  /*******************************************************************************
   * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
  
   This file is part of VL53LX Core and is dual licensed,
   either 'STMicroelectronics
   Proprietary license'
   or 'BSD 3-clause "New" or "Revised" License' , at your option.
  
  ********************************************************************************
  
   'STMicroelectronics Proprietary license'
  
  ********************************************************************************
  
   License terms: STMicroelectronics Proprietary in accordance with licensing
   terms at www.st.com/sla0081
  
   STMicroelectronics confidential
   Reproduction and Communication of this document is strictly prohibited unless
   specifically authorized in writing by STMicroelectronics.
  
  
  ********************************************************************************
  
   Alternatively, VL53LX Core may be distributed under the terms of
   'BSD 3-clause "New" or "Revised" License', in which case the following
   provisions apply instead of the ones
   mentioned above :
  
  ********************************************************************************
  
   License terms: BSD 3-clause "New" or "Revised" License.
  
   Redistribution and use in source and binary forms, with or without
   modification, are permitted provided that the following conditions are met:
  
   1. Redistributions of source code must retain the above copyright notice, this
   list of conditions and the following disclaimer.
  
   2. Redistributions in binary form must reproduce the above copyright notice,
   this list of conditions and the following disclaimer in the documentation
   and/or other materials provided with the distribution.
  
   3. Neither the name of the copyright holder nor the names of its contributors
   may be used to endorse or promote products derived from this software
   without specific prior written permission.
  
   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
   FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
   DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
   SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
   OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  
  
  ********************************************************************************
  
  */
  
  
  
  
  #include "vl53lx_api.h"
  #include "vl53lx_register_settings.h"
  #include "vl53lx_register_funcs.h"
  #include "vl53lx_core.h"
  #include "vl53lx_api_calibration.h"
  #include "vl53lx_wait.h"
  #include "vl53lx_preset_setup.h"
  #include "vl53lx_api_debug.h"
  #include "vl53lx_api_core.h"
  #include "vl53lx_nvm.h"
  
  
  #define ZONE_CHECK 5
  
  #define LOG_FUNCTION_START(fmt, ...) \
  	_LOG_FUNCTION_START(VL53LX_TRACE_MODULE_API, fmt, ##__VA_ARGS__)
  #define LOG_FUNCTION_END(status, ...) \
  	_LOG_FUNCTION_END(VL53LX_TRACE_MODULE_API, status, ##__VA_ARGS__)
  #define LOG_FUNCTION_END_FMT(status, fmt, ...) \
  	_LOG_FUNCTION_END_FMT(VL53LX_TRACE_MODULE_API, status, \
  			fmt, ##__VA_ARGS__)
  
  #ifdef VL53LX_LOG_ENABLE
  #define trace_print(level, ...) trace_print_module_function(\
  		VL53LX_TRACE_MODULE_API, level, VL53LX_TRACE_FUNCTION_NONE, \
  		##__VA_ARGS__)
  #endif
  
  #ifndef MIN
  #define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
  #endif
  #ifndef MAX
  #define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
  #endif
  
  #define DMAX_REFLECTANCE_IDX 2
  
  
  
  #define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245
  #define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448
  #define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100
  
  #define FDA_MAX_TIMING_BUDGET_US 550000
  
  
  
  
  
  
  static int32_t BDTable[VL53LX_TUNING_MAX_TUNABLE_KEY] = {
  		TUNING_VERSION,
  		TUNING_PROXY_MIN,
  		TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
  		TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
  		TUNING_MIN_AMBIENT_DMAX_VALID,
  		TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
  		TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
  		TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
  		TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
  		TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
  		TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT
  };
  
  static VL53LX_Error SetInterMeasurementPeriodMilliSeconds(VL53LX_DEV Dev,
  		uint32_t InterMeasurementPeriodMilliSeconds);
  
  static VL53LX_Error GetInterMeasurementPeriodMilliSeconds(VL53LX_DEV Dev,
  	uint32_t *pInterMeasurementPeriodMilliSeconds);
  
  static VL53LX_Error ComputeDevicePresetMode(
  		VL53LX_DistanceModes DistanceMode,
  		VL53LX_DevicePresetModes *pDevicePresetMode);
  
  static VL53LX_Error SetPresetModeL3CX(VL53LX_DEV Dev,
  		VL53LX_DistanceModes DistanceMode,
  		uint32_t inter_measurement_period_ms);
  
  
  
  VL53LX_Error VL53LX_GetVersion(VL53LX_Version_t *pVersion)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	pVersion->major = VL53LX_IMPLEMENTATION_VER_MAJOR;
  	pVersion->minor = VL53LX_IMPLEMENTATION_VER_MINOR;
  	pVersion->build = VL53LX_IMPLEMENTATION_VER_SUB;
  
  	pVersion->revision = VL53LX_IMPLEMENTATION_VER_REVISION;
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_GetProductRevision(VL53LX_DEV Dev,
  	uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint8_t revision_id;
  	VL53LX_LLDriverData_t   *pLLData;
  
  	LOG_FUNCTION_START("");
  
  	pLLData =  VL53LXDevStructGetLLDriverHandle(Dev);
  	revision_id = pLLData->nvm_copy_data.identification__revision_id;
  	*pProductRevisionMajor = 1;
  	*pProductRevisionMinor = (revision_id & 0xF0) >> 4;
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  
  }
  
  VL53LX_Error VL53LX_GetDeviceInfo(VL53LX_DEV Dev,
  	VL53LX_DeviceInfo_t *pVL53LX_DeviceInfo)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint8_t revision_id;
  	VL53LX_LLDriverData_t   *pLLData;
  
  	LOG_FUNCTION_START("");
  
  	pLLData =  VL53LXDevStructGetLLDriverHandle(Dev);
  
  	pVL53LX_DeviceInfo->ProductType =
  			pLLData->nvm_copy_data.identification__module_type;
  
  	revision_id = pLLData->nvm_copy_data.identification__revision_id;
  	pVL53LX_DeviceInfo->ProductRevisionMajor = 1;
  	pVL53LX_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_GetUID(VL53LX_DEV Dev, uint64_t *pUid)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint8_t fmtdata[8];
  
  	LOG_FUNCTION_START("");
  
  	Status = VL53LX_read_nvm_raw_data(Dev,
  			(uint8_t)(0x1F8 >> 2),
  			(uint8_t)(8 >> 2),
  			fmtdata);
  	memcpy(pUid, fmtdata, sizeof(uint64_t));
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  
  VL53LX_Error VL53LX_SetDeviceAddress(VL53LX_DEV Dev, uint8_t DeviceAddress)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	Status = VL53LX_WrByte(Dev, VL53LX_I2C_SLAVE__DEVICE_ADDRESS,
  			DeviceAddress / 2);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_DataInit(VL53LX_DEV Dev)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_LLDriverData_t *pdev;
  	uint8_t  measurement_mode;
  
  	LOG_FUNCTION_START("");
  
  
  #ifdef USE_I2C_2V8
  	Status = VL53LX_RdByte(Dev, VL53LX_PAD_I2C_HV__EXTSUP_CONFIG, &i);
  	if (Status == VL53LX_ERROR_NONE) {
  		i = (i & 0xfe) | 0x01;
  		Status = VL53LX_WrByte(Dev, VL53LX_PAD_I2C_HV__EXTSUP_CONFIG,
  				i);
  	}
  #endif
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = VL53LX_data_init(Dev, 1);
  
  	Status = SetPresetModeL3CX(Dev,
  			VL53LX_DISTANCEMODE_LONG,
  			1000);
  
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = VL53LX_SetMeasurementTimingBudgetMicroSeconds(Dev,
  				33333);
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = SetInterMeasurementPeriodMilliSeconds(Dev, 1000);
  
  	if (Status == VL53LX_ERROR_NONE) {
  		pdev = VL53LXDevStructGetLLDriverHandle(Dev);
  		memset(&pdev->per_vcsel_cal_data, 0,
  				sizeof(pdev->per_vcsel_cal_data));
  	}
  
  	if (Status == VL53LX_ERROR_NONE) {
  		Status = VL53LX_set_dmax_mode(Dev,
  				VL53LX_DEVICEDMAXMODE__CUST_CAL_DATA);
  	}
  
  
  	measurement_mode  = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
  	VL53LXDevDataSet(Dev, LLData.measurement_mode, measurement_mode);
  
  	VL53LXDevDataSet(Dev, CurrentParameters.DistanceMode,
  			VL53LX_DISTANCEMODE_LONG);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_WaitDeviceBooted(VL53LX_DEV Dev)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	Status = VL53LX_poll_for_boot_completion(Dev,
  			VL53LX_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  
  
  static VL53LX_Error ComputeDevicePresetMode(
  		VL53LX_DistanceModes DistanceMode,
  		VL53LX_DevicePresetModes *pDevicePresetMode)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	uint8_t DistIdx;
  	VL53LX_DevicePresetModes RangingModes[3] = {
  		VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE,
  		VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE,
  		VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE};
  
  	switch (DistanceMode) {
  	case VL53LX_DISTANCEMODE_SHORT:
  		DistIdx = 0;
  		break;
  	case VL53LX_DISTANCEMODE_MEDIUM:
  		DistIdx = 1;
  		break;
  	default:
  		DistIdx = 2;
  	}
  
  	*pDevicePresetMode = RangingModes[DistIdx];
  
  	return Status;
  }
  
  static VL53LX_Error SetPresetModeL3CX(VL53LX_DEV Dev,
  		VL53LX_DistanceModes DistanceMode,
  		uint32_t inter_measurement_period_ms)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_DevicePresetModes   device_preset_mode;
  	uint8_t measurement_mode;
  	uint16_t dss_config__target_total_rate_mcps;
  	uint32_t phasecal_config_timeout_us;
  	uint32_t mm_config_timeout_us;
  	uint32_t lld_range_config_timeout_us;
  
  	LOG_FUNCTION_START("");
  
  	measurement_mode  = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
  
  	Status = ComputeDevicePresetMode(DistanceMode,
  			&device_preset_mode);
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status =  VL53LX_get_preset_mode_timing_cfg(Dev,
  				device_preset_mode,
  				&dss_config__target_total_rate_mcps,
  				&phasecal_config_timeout_us,
  				&mm_config_timeout_us,
  				&lld_range_config_timeout_us);
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = VL53LX_set_preset_mode(
  				Dev,
  				device_preset_mode,
  				dss_config__target_total_rate_mcps,
  				phasecal_config_timeout_us,
  				mm_config_timeout_us,
  				lld_range_config_timeout_us,
  				inter_measurement_period_ms);
  
  	if (Status == VL53LX_ERROR_NONE)
  		VL53LXDevDataSet(Dev, LLData.measurement_mode,
  				measurement_mode);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_SetDistanceMode(VL53LX_DEV Dev,
  		VL53LX_DistanceModes DistanceMode)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint32_t inter_measurement_period_ms;
  	uint32_t TimingBudget;
  	uint32_t MmTimeoutUs;
  	uint32_t PhaseCalTimeoutUs;
  
  	LOG_FUNCTION_START("%d", (int)DistanceMode);
  
  
  
  	if ((DistanceMode != VL53LX_DISTANCEMODE_SHORT) &&
  		(DistanceMode != VL53LX_DISTANCEMODE_MEDIUM) &&
  		(DistanceMode != VL53LX_DISTANCEMODE_LONG))
  		return VL53LX_ERROR_INVALID_PARAMS;
  
  	inter_measurement_period_ms =  VL53LXDevDataGet(Dev,
  				LLData.inter_measurement_period_ms);
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = VL53LX_get_timeouts_us(Dev, &PhaseCalTimeoutUs,
  			&MmTimeoutUs, &TimingBudget);
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = SetPresetModeL3CX(Dev,
  				DistanceMode,
  				inter_measurement_period_ms);
  
  	if (Status == VL53LX_ERROR_NONE) {
  		VL53LXDevDataSet(Dev, CurrentParameters.DistanceMode,
  				DistanceMode);
  	}
  
  	if (Status == VL53LX_ERROR_NONE) {
  		Status = VL53LX_set_timeouts_us(Dev, PhaseCalTimeoutUs,
  			MmTimeoutUs, TimingBudget);
  
  		if (Status == VL53LX_ERROR_NONE)
  			VL53LXDevDataSet(Dev, LLData.range_config_timeout_us,
  				TimingBudget);
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_GetDistanceMode(VL53LX_DEV Dev,
  	VL53LX_DistanceModes *pDistanceMode)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	*pDistanceMode = VL53LXDevDataGet(Dev, CurrentParameters.DistanceMode);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_SetMeasurementTimingBudgetMicroSeconds(VL53LX_DEV Dev,
  	uint32_t MeasurementTimingBudgetMicroSeconds)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint32_t TimingGuard;
  	uint32_t divisor;
  	uint32_t TimingBudget;
  	uint32_t MmTimeoutUs;
  	uint32_t PhaseCalTimeoutUs;
  	uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US;
  
  	LOG_FUNCTION_START("");
  
  
  	if (MeasurementTimingBudgetMicroSeconds > 10000000)
  		Status = VL53LX_ERROR_INVALID_PARAMS;
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = VL53LX_get_timeouts_us(Dev,
  			&PhaseCalTimeoutUs,
  			&MmTimeoutUs,
  			&TimingBudget);
  
  	TimingGuard = 1700;
  	divisor = 6;
  
  	if (MeasurementTimingBudgetMicroSeconds <= TimingGuard)
  		Status = VL53LX_ERROR_INVALID_PARAMS;
  	else {
  		TimingBudget = (MeasurementTimingBudgetMicroSeconds
  				- TimingGuard);
  	}
  
  	if (Status == VL53LX_ERROR_NONE) {
  		if (TimingBudget > FDAMaxTimingBudgetUs)
  			Status = VL53LX_ERROR_INVALID_PARAMS;
  		else {
  			TimingBudget /= divisor;
  			Status = VL53LX_set_timeouts_us(
  				Dev,
  				PhaseCalTimeoutUs,
  				MmTimeoutUs,
  				TimingBudget);
  		}
  
  		if (Status == VL53LX_ERROR_NONE)
  			VL53LXDevDataSet(Dev,
  				LLData.range_config_timeout_us,
  				TimingBudget);
  	}
  
  	if (Status == VL53LX_ERROR_NONE) {
  		VL53LXDevDataSet(Dev,
  			CurrentParameters.MeasurementTimingBudgetMicroSeconds,
  			MeasurementTimingBudgetMicroSeconds);
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_GetMeasurementTimingBudgetMicroSeconds(VL53LX_DEV Dev,
  	uint32_t *pMeasurementTimingBudgetMicroSeconds)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint32_t MmTimeoutUs = 0;
  	uint32_t RangeTimeoutUs = 0;
  	uint32_t PhaseCalTimeoutUs = 0;
  
  	LOG_FUNCTION_START("");
  
  	*pMeasurementTimingBudgetMicroSeconds = 0;
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = VL53LX_get_timeouts_us(Dev,
  			&PhaseCalTimeoutUs,
  			&MmTimeoutUs,
  			&RangeTimeoutUs);
  
  	if (Status == VL53LX_ERROR_NONE)
  		*pMeasurementTimingBudgetMicroSeconds = (6 * RangeTimeoutUs) +
  		1700;
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  
  static VL53LX_Error SetInterMeasurementPeriodMilliSeconds(VL53LX_DEV Dev,
  	uint32_t InterMeasurementPeriodMilliSeconds)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint32_t adjustedIMP;
  
  	LOG_FUNCTION_START("");
  
  
  	adjustedIMP = InterMeasurementPeriodMilliSeconds;
  	adjustedIMP += (adjustedIMP * 64) / 1000;
  
  	Status = VL53LX_set_inter_measurement_period_ms(Dev,
  			adjustedIMP);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  static VL53LX_Error GetInterMeasurementPeriodMilliSeconds(VL53LX_DEV Dev,
  	uint32_t *pInterMeasurementPeriodMilliSeconds)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint32_t adjustedIMP;
  
  	LOG_FUNCTION_START("");
  
  	Status = VL53LX_get_inter_measurement_period_ms(Dev, &adjustedIMP);
  
  	adjustedIMP -= (adjustedIMP * 64) / 1000;
  	*pInterMeasurementPeriodMilliSeconds = adjustedIMP;
  
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  
  
  
  
  
  VL53LX_Error VL53LX_StartMeasurement(VL53LX_DEV Dev)
  {
  #define TIMED_MODE_TIMING_GUARD_MILLISECONDS 4
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint8_t DeviceMeasurementMode;
  	VL53LX_Error lStatus;
  	uint32_t MTBus, IMPms;
  
  	LOG_FUNCTION_START("");
  
  	VL53LX_load_patch(Dev);
  
  	DeviceMeasurementMode = VL53LXDevDataGet(Dev, LLData.measurement_mode);
  
  
  	if ((Status == VL53LX_ERROR_NONE) &&
  		(DeviceMeasurementMode == VL53LX_DEVICEMEASUREMENTMODE_TIMED)) {
  		lStatus = VL53LX_GetMeasurementTimingBudgetMicroSeconds(Dev,
  				&MTBus);
  
  		MTBus /= 1000;
  		lStatus = GetInterMeasurementPeriodMilliSeconds(Dev,
  				&IMPms);
  
  		SUPPRESS_UNUSED_WARNING(lStatus);
  		if (IMPms < MTBus + TIMED_MODE_TIMING_GUARD_MILLISECONDS)
  			Status = VL53LX_ERROR_INVALID_PARAMS;
  	}
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status = VL53LX_init_and_start_range(
  				Dev,
  				DeviceMeasurementMode,
  				VL53LX_DEVICECONFIGLEVEL_FULL);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_StopMeasurement(VL53LX_DEV Dev)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	Status = VL53LX_stop_range(Dev);
  
  	VL53LX_unload_patch(Dev);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_ClearInterruptAndStartMeasurement(VL53LX_DEV Dev)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint8_t DeviceMeasurementMode;
  
  	LOG_FUNCTION_START("");
  
  	DeviceMeasurementMode = VL53LXDevDataGet(Dev, LLData.measurement_mode);
  
  	Status = VL53LX_clear_interrupt_and_enable_next_range(Dev,
  			DeviceMeasurementMode);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_GetMeasurementDataReady(VL53LX_DEV Dev,
  	uint8_t *pMeasurementDataReady)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	Status = VL53LX_is_new_data_ready(Dev, pMeasurementDataReady);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_WaitMeasurementDataReady(VL53LX_DEV Dev)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  
  
  	Status = VL53LX_poll_for_range_completion(Dev,
  			VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  static uint8_t ConvertStatusHisto(uint8_t FilteredRangeStatus)
  {
  	uint8_t RangeStatus;
  
  	switch (FilteredRangeStatus) {
  	case VL53LX_DEVICEERROR_RANGEPHASECHECK:
  		RangeStatus = VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL;
  		break;
  	case VL53LX_DEVICEERROR_SIGMATHRESHOLDCHECK:
  		RangeStatus = VL53LX_RANGESTATUS_SIGMA_FAIL;
  		break;
  	case VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
  		RangeStatus =
  			VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
  		break;
  	case VL53LX_DEVICEERROR_PHASECONSISTENCY:
  		RangeStatus = VL53LX_RANGESTATUS_WRAP_TARGET_FAIL;
  		break;
  	case VL53LX_DEVICEERROR_PREV_RANGE_NO_TARGETS:
  		RangeStatus = VL53LX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL;
  		break;
  	case VL53LX_DEVICEERROR_EVENTCONSISTENCY:
  		RangeStatus = VL53LX_RANGESTATUS_WRAP_TARGET_FAIL;
  		break;
  	case VL53LX_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE:
  		RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID_MERGED_PULSE;
  		break;
  	case VL53LX_DEVICEERROR_RANGECOMPLETE:
  		RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID;
  		break;
  	default:
  		RangeStatus = VL53LX_RANGESTATUS_NONE;
  	}
  
  	return RangeStatus;
  }
  
  static VL53LX_Error SetTargetData(VL53LX_DEV Dev,
  	uint8_t active_results, uint8_t device_status,
  	VL53LX_range_data_t *presults_data,
  	VL53LX_TargetRangeData_t *pRangeData)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint8_t FilteredRangeStatus;
  	FixPoint1616_t AmbientRate;
  	FixPoint1616_t SignalRate;
  	FixPoint1616_t TempFix1616;
  	int16_t Range;
  
  	SUPPRESS_UNUSED_WARNING(Dev);
  
  	FilteredRangeStatus = presults_data->range_status & 0x1F;
  
  	SignalRate = VL53LX_FIXPOINT97TOFIXPOINT1616(
  		presults_data->peak_signal_count_rate_mcps);
  	pRangeData->SignalRateRtnMegaCps
  		= SignalRate;
  
  	AmbientRate = VL53LX_FIXPOINT97TOFIXPOINT1616(
  		presults_data->ambient_count_rate_mcps);
  	pRangeData->AmbientRateRtnMegaCps = AmbientRate;
  
  	TempFix1616 = VL53LX_FIXPOINT97TOFIXPOINT1616(
  			presults_data->VL53LX_p_002);
  
  	pRangeData->SigmaMilliMeter = TempFix1616;
  
  	pRangeData->RangeMilliMeter = presults_data->median_range_mm;
  	pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm;
  	pRangeData->RangeMinMilliMeter = presults_data->min_range_mm;
  
  
  	switch (device_status) {
  	case VL53LX_DEVICEERROR_MULTCLIPFAIL:
  	case VL53LX_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
  	case VL53LX_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
  	case VL53LX_DEVICEERROR_NOVHVVALUEFOUND:
  		pRangeData->RangeStatus =  VL53LX_RANGESTATUS_HARDWARE_FAIL;
  		break;
  	case VL53LX_DEVICEERROR_USERROICLIP:
  		pRangeData->RangeStatus =  VL53LX_RANGESTATUS_MIN_RANGE_FAIL;
  		break;
  	default:
  		pRangeData->RangeStatus =  VL53LX_RANGESTATUS_RANGE_VALID;
  	}
  
  
  	if ((pRangeData->RangeStatus ==  VL53LX_RANGESTATUS_RANGE_VALID) &&
  		(active_results == 0)) {
  		pRangeData->RangeStatus =  VL53LX_RANGESTATUS_NONE;
  		pRangeData->SignalRateRtnMegaCps = 0;
  		pRangeData->SigmaMilliMeter = 0;
  		pRangeData->RangeMilliMeter = 8191;
  		pRangeData->RangeMaxMilliMeter = 8191;
  		pRangeData->RangeMinMilliMeter = 8191;
  	}
  
  
  	if (pRangeData->RangeStatus ==  VL53LX_RANGESTATUS_RANGE_VALID)
  		pRangeData->RangeStatus =
  			ConvertStatusHisto(FilteredRangeStatus);
  
  	Range = pRangeData->RangeMilliMeter;
  	if ((pRangeData->RangeStatus ==  VL53LX_RANGESTATUS_RANGE_VALID) &&
  		(Range < 0)) {
  		if (Range < BDTable[VL53LX_TUNING_PROXY_MIN])
  			pRangeData->RangeStatus =
  					 VL53LX_RANGESTATUS_RANGE_INVALID;
  		else
  			pRangeData->RangeMilliMeter = 0;
  	}
  
  	return Status;
  }
  
  
  static VL53LX_Error SetMeasurementData(VL53LX_DEV Dev,
  	VL53LX_range_results_t *presults,
  	VL53LX_MultiRangingData_t *pMultiRangingData)
  {
  	uint8_t i;
  	uint8_t iteration;
  	VL53LX_TargetRangeData_t *pRangeData;
  	VL53LX_range_data_t *presults_data;
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	uint8_t ActiveResults;
  
  	pMultiRangingData->NumberOfObjectsFound = presults->active_results;
  	pMultiRangingData->HasXtalkValueChanged =
  			presults->smudge_corrector_data.new_xtalk_applied_flag;
  
  
  	pMultiRangingData->TimeStamp = 0;
  
  	pMultiRangingData->StreamCount = presults->stream_count;
  
  	ActiveResults = presults->active_results;
  	if (ActiveResults < 1)
  
  		iteration = 1;
  	else
  		iteration = ActiveResults;
  	for (i = 0; i < iteration; i++) {
  		pRangeData = &(pMultiRangingData->RangeData[i]);
  
  		presults_data = &(presults->VL53LX_p_003[i]);
  		if (Status == VL53LX_ERROR_NONE)
  			Status = SetTargetData(Dev, ActiveResults,
  					presults->device_status,
  					presults_data,
  					pRangeData);
  
  		pMultiRangingData->EffectiveSpadRtnCount =
  				presults_data->VL53LX_p_004;
  
  	}
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_GetMultiRangingData(VL53LX_DEV Dev,
  		VL53LX_MultiRangingData_t *pMultiRangingData)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_LLDriverData_t *pdev =
  			VL53LXDevStructGetLLDriverHandle(Dev);
  	VL53LX_range_results_t *presults =
  			(VL53LX_range_results_t *) pdev->wArea1;
  
  	LOG_FUNCTION_START("");
  
  
  	memset(pMultiRangingData, 0xFF,
  		sizeof(VL53LX_MultiRangingData_t));
  
  
  	Status = VL53LX_get_device_results(
  				Dev,
  				VL53LX_DEVICERESULTSLEVEL_FULL,
  				presults);
  
  	Status = SetMeasurementData(Dev,
  					presults,
  					pMultiRangingData);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_GetAdditionalData(VL53LX_DEV Dev,
  		VL53LX_AdditionalData_t *pAdditionalData)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	Status = VL53LX_get_additional_data(Dev, pAdditionalData);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  
  
  
  
  VL53LX_Error VL53LX_SetTuningParameter(VL53LX_DEV Dev,
  		uint16_t TuningParameterId, int32_t TuningParameterValue)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	if (TuningParameterId ==
  		VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS)
  		return VL53LX_ERROR_INVALID_PARAMS;
  
  	if (TuningParameterId >= 32768)
  		Status = VL53LX_set_tuning_parm(Dev,
  			TuningParameterId,
  			TuningParameterValue);
  	else {
  		if (TuningParameterId < VL53LX_TUNING_MAX_TUNABLE_KEY)
  			BDTable[TuningParameterId] = TuningParameterValue;
  		else
  			Status = VL53LX_ERROR_INVALID_PARAMS;
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_GetTuningParameter(VL53LX_DEV Dev,
  		uint16_t TuningParameterId, int32_t *pTuningParameterValue)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	if (TuningParameterId >= 32768)
  		Status = VL53LX_get_tuning_parm(Dev,
  			TuningParameterId,
  			pTuningParameterValue);
  	else {
  		if (TuningParameterId < VL53LX_TUNING_MAX_TUNABLE_KEY)
  			*pTuningParameterValue = BDTable[TuningParameterId];
  		else
  			Status = VL53LX_ERROR_INVALID_PARAMS;
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_PerformRefSpadManagement(VL53LX_DEV Dev)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_Error RawStatus;
  	uint8_t dcrbuffer[24];
  	uint8_t *commbuf;
  	uint8_t numloc[2] = {5, 3};
  	VL53LX_LLDriverData_t *pdev;
  	VL53LX_customer_nvm_managed_t *pc;
  	VL53LX_DistanceModes DistanceMode;
  
  	LOG_FUNCTION_START("");
  
  	pdev = VL53LXDevStructGetLLDriverHandle(Dev);
  	pc = &pdev->customer;
  
  	if (Status == VL53LX_ERROR_NONE) {
  		DistanceMode = VL53LXDevDataGet(Dev,
  				CurrentParameters.DistanceMode);
  		Status = VL53LX_run_ref_spad_char(Dev, &RawStatus);
  
  		if (Status == VL53LX_ERROR_NONE)
  			Status = VL53LX_SetDistanceMode(Dev, DistanceMode);
  	}
  
  	if (Status == VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {
  
  		Status = VL53LX_read_nvm_raw_data(Dev,
  				(uint8_t)(0xA0 >> 2),
  				(uint8_t)(24 >> 2),
  				dcrbuffer);
  
  		if (Status == VL53LX_ERROR_NONE)
  			Status = VL53LX_WriteMulti(Dev,
  				VL53LX_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
  				numloc, 2);
  
  		if (Status == VL53LX_ERROR_NONE) {
  			pc->ref_spad_man__num_requested_ref_spads = numloc[0];
  			pc->ref_spad_man__ref_location = numloc[1];
  		}
  
  		if (Status == VL53LX_ERROR_NONE)
  			commbuf = &dcrbuffer[16];
  
  
  
  		if (Status == VL53LX_ERROR_NONE)
  			Status = VL53LX_WriteMulti(Dev,
  				VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
  				commbuf, 6);
  
  		if (Status == VL53LX_ERROR_NONE) {
  			pc->global_config__spad_enables_ref_0 = commbuf[0];
  			pc->global_config__spad_enables_ref_1 = commbuf[1];
  			pc->global_config__spad_enables_ref_2 = commbuf[2];
  			pc->global_config__spad_enables_ref_3 = commbuf[3];
  			pc->global_config__spad_enables_ref_4 = commbuf[4];
  			pc->global_config__spad_enables_ref_5 = commbuf[5];
  		}
  
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_SmudgeCorrectionEnable(VL53LX_DEV Dev,
  		VL53LX_SmudgeCorrectionModes Mode)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_Error s1 = VL53LX_ERROR_NONE;
  	VL53LX_Error s2 = VL53LX_ERROR_NONE;
  	VL53LX_Error s3 = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	switch (Mode) {
  	case VL53LX_SMUDGE_CORRECTION_NONE:
  		s1 = VL53LX_dynamic_xtalk_correction_disable(Dev);
  		s2 = VL53LX_dynamic_xtalk_correction_apply_disable(Dev);
  		s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable(Dev);
  		break;
  	case VL53LX_SMUDGE_CORRECTION_CONTINUOUS:
  		s1 = VL53LX_dynamic_xtalk_correction_enable(Dev);
  		s2 = VL53LX_dynamic_xtalk_correction_apply_enable(Dev);
  		s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable(Dev);
  		break;
  	case VL53LX_SMUDGE_CORRECTION_SINGLE:
  		s1 = VL53LX_dynamic_xtalk_correction_enable(Dev);
  		s2 = VL53LX_dynamic_xtalk_correction_apply_enable(Dev);
  		s3 = VL53LX_dynamic_xtalk_correction_single_apply_enable(Dev);
  		break;
  	case VL53LX_SMUDGE_CORRECTION_DEBUG:
  		s1 = VL53LX_dynamic_xtalk_correction_enable(Dev);
  		s2 = VL53LX_dynamic_xtalk_correction_apply_disable(Dev);
  		s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable(Dev);
  		break;
  	default:
  		Status = VL53LX_ERROR_INVALID_PARAMS;
  		break;
  	}
  
  	if (Status == VL53LX_ERROR_NONE) {
  		Status = s1;
  		if (Status == VL53LX_ERROR_NONE)
  			Status = s2;
  		if (Status == VL53LX_ERROR_NONE)
  			Status = s3;
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_SetXTalkCompensationEnable(VL53LX_DEV Dev,
  	uint8_t XTalkCompensationEnable)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	if (XTalkCompensationEnable == 0)
  		Status = VL53LX_disable_xtalk_compensation(Dev);
  	else
  		Status = VL53LX_enable_xtalk_compensation(Dev);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_GetXTalkCompensationEnable(VL53LX_DEV Dev,
  	uint8_t *pXTalkCompensationEnable)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  
  	LOG_FUNCTION_START("");
  
  	VL53LX_get_xtalk_compensation_enable(
  		Dev,
  		pXTalkCompensationEnable);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_PerformXTalkCalibration(VL53LX_DEV Dev)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_Error UStatus;
  	int16_t CalDistanceMm;
  	VL53LX_xtalk_calibration_results_t xtalk;
  
  	VL53LX_CalibrationData_t caldata;
  	VL53LX_LLDriverData_t *pLLData;
  	int i;
  	uint32_t *pPlaneOffsetKcps;
  	uint32_t Margin =
  			BDTable[VL53LX_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN];
  	uint32_t DefaultOffset =
  			BDTable[VL53LX_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET];
  	uint32_t *pLLDataPlaneOffsetKcps;
  	uint32_t sum = 0;
  	uint8_t binok = 0;
  
  	LOG_FUNCTION_START("");
  
  	pPlaneOffsetKcps =
  	&caldata.customer.algo__crosstalk_compensation_plane_offset_kcps;
  	pLLData = VL53LXDevStructGetLLDriverHandle(Dev);
  	pLLDataPlaneOffsetKcps =
  	&pLLData->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps;
  
  	CalDistanceMm = (int16_t)
  	BDTable[VL53LX_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM];
  	Status = VL53LX_run_hist_xtalk_extraction(Dev, CalDistanceMm,
  			&UStatus);
  
  	VL53LX_GetCalibrationData(Dev, &caldata);
  	for (i = 0; i < VL53LX_XTALK_HISTO_BINS; i++) {
  		sum += caldata.xtalkhisto.xtalk_shape.bin_data[i];
  		if (caldata.xtalkhisto.xtalk_shape.bin_data[i] > 0)
  			binok++;
  	}
  	if ((UStatus ==
  		VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL) ||
  		(sum > (1024 + Margin)) || (sum < (1024 - Margin)) ||
  		(binok < 3)) {
  		*pPlaneOffsetKcps = DefaultOffset;
  		*pLLDataPlaneOffsetKcps = DefaultOffset;
  		caldata.xtalkhisto.xtalk_shape.bin_data[0] = 307;
  		caldata.xtalkhisto.xtalk_shape.bin_data[1] = 410;
  		caldata.xtalkhisto.xtalk_shape.bin_data[2] = 410;
  		caldata.xtalkhisto.xtalk_shape.bin_data[3] = 307;
  		for (i = 4; i < VL53LX_XTALK_HISTO_BINS; i++)
  			caldata.xtalkhisto.xtalk_shape.bin_data[i] = 0;
  		for (i = 0; i < VL53LX_BIN_REC_SIZE; i++)
  			caldata.algo__xtalk_cpo_HistoMerge_kcps[i] =
  				DefaultOffset + DefaultOffset * i;
  		VL53LX_SetCalibrationData(Dev, &caldata);
  	}
  
  	if (Status == VL53LX_ERROR_NONE) {
  		Status = VL53LX_get_current_xtalk_settings(Dev, &xtalk);
  		Status = VL53LX_set_tuning_parm(Dev,
  			VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
  			xtalk.algo__crosstalk_compensation_plane_offset_kcps);
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_SetOffsetCorrectionMode(VL53LX_DEV Dev,
  		VL53LX_OffsetCorrectionModes OffsetCorrectionMode)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_OffsetCorrectionMode   offset_cor_mode;
  
  	LOG_FUNCTION_START("");
  
  	if (OffsetCorrectionMode == VL53LX_OFFSETCORRECTIONMODE_STANDARD) {
  		offset_cor_mode =
  				VL53LX_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
  	} else if (OffsetCorrectionMode ==
  			VL53LX_OFFSETCORRECTIONMODE_PERVCSEL) {
  		offset_cor_mode =
  				VL53LX_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS;
  	} else {
  		Status = VL53LX_ERROR_INVALID_PARAMS;
  	}
  
  	if (Status == VL53LX_ERROR_NONE)
  		Status =  VL53LX_set_offset_correction_mode(Dev,
  				offset_cor_mode);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  VL53LX_Error VL53LX_PerformOffsetSimpleCalibration(VL53LX_DEV Dev,
  	int32_t CalDistanceMilliMeter)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	int32_t sum_ranging;
  	uint8_t offset_meas;
  	int16_t Max, UnderMax, OverMax, Repeat;
  	int32_t total_count, inloopcount;
  	int32_t IncRounding;
  	int16_t meanDistance_mm;
  	int16_t offset;
  	VL53LX_MultiRangingData_t RangingMeasurementData;
  	VL53LX_LLDriverData_t *pdev;
  	uint8_t goodmeas;
  	VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
  	uint8_t smudge_corr_en;
  	VL53LX_TargetRangeData_t *pRange;
  
  	LOG_FUNCTION_START("");
  
  	pdev = VL53LXDevStructGetLLDriverHandle(Dev);
  
  	smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
  	SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable(Dev);
  
  	pdev->customer.algo__part_to_part_range_offset_mm = 0;
  	pdev->customer.mm_config__inner_offset_mm = 0;
  	pdev->customer.mm_config__outer_offset_mm = 0;
  	memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
  	Repeat = BDTable[VL53LX_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
  	Max = BDTable[
  		VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
  	UnderMax = 1 + (Max / 2);
  	OverMax = Max + (Max / 2);
  	sum_ranging = 0;
  	total_count = 0;
  
  	while ((Repeat > 0) && (Status == VL53LX_ERROR_NONE)) {
  		Status = VL53LX_StartMeasurement(Dev);
  
  		if (Status == VL53LX_ERROR_NONE) {
  			VL53LX_WaitMeasurementDataReady(Dev);
  			VL53LX_GetMultiRangingData(Dev,
  				&RangingMeasurementData);
  			VL53LX_ClearInterruptAndStartMeasurement(Dev);
  		}
  
  		inloopcount = 0;
  		offset_meas = 0;
  		while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
  				(offset_meas < OverMax)) {
  			Status = VL53LX_WaitMeasurementDataReady(Dev);
  			if (Status == VL53LX_ERROR_NONE)
  				Status = VL53LX_GetMultiRangingData(Dev,
  						&RangingMeasurementData);
  			pRange = &(RangingMeasurementData.RangeData[0]);
  			goodmeas = (pRange->RangeStatus ==
  				VL53LX_RANGESTATUS_RANGE_VALID);
  			if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
  				sum_ranging += pRange->RangeMilliMeter;
  				inloopcount++;
  			}
  			Status = VL53LX_ClearInterruptAndStartMeasurement(Dev);
  			offset_meas++;
  		}
  		total_count += inloopcount;
  
  
  		if (inloopcount < UnderMax)
  			Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
  
  		VL53LX_StopMeasurement(Dev);
  
  		Repeat--;
  
  	}
  
  	if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1))
  		SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable(Dev);
  
  	if ((sum_ranging < 0) ||
  		(sum_ranging > ((int32_t) total_count * 0xffff)))
  		Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
  
  	if ((Status == VL53LX_ERROR_NONE) && (total_count > 0)) {
  		IncRounding = total_count / 2;
  		meanDistance_mm = (int16_t)((sum_ranging + IncRounding)
  				/ total_count);
  		offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm;
  		pdev->customer.algo__part_to_part_range_offset_mm = 0;
  		pdev->customer.mm_config__inner_offset_mm = offset;
  		pdev->customer.mm_config__outer_offset_mm = offset;
  
  		Status = VL53LX_set_customer_nvm_managed(Dev,
  				&(pdev->customer));
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_PerformOffsetZeroDistanceCalibration(VL53LX_DEV Dev)
  {
  	#define START_OFFSET 50
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	int32_t sum_ranging;
  	uint8_t offset_meas;
  	int16_t Max, UnderMax, OverMax, Repeat;
  	int32_t total_count, inloopcount;
  	int32_t IncRounding;
  	int16_t meanDistance_mm;
  	int16_t offset, ZeroDistanceOffset;
  	VL53LX_MultiRangingData_t RangingMeasurementData;
  	VL53LX_LLDriverData_t *pdev;
  	uint8_t goodmeas;
  	VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
  	uint8_t smudge_corr_en;
  	VL53LX_TargetRangeData_t *pRange;
  
  	LOG_FUNCTION_START("");
  
  	pdev = VL53LXDevStructGetLLDriverHandle(Dev);
  	smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
  	SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable(Dev);
  	pdev->customer.algo__part_to_part_range_offset_mm = 0;
  	pdev->customer.mm_config__inner_offset_mm = START_OFFSET;
  	pdev->customer.mm_config__outer_offset_mm = START_OFFSET;
  	memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
  	ZeroDistanceOffset = BDTable[
  		VL53LX_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR];
  	Repeat = BDTable[VL53LX_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
  	Max =
  	BDTable[VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
  	UnderMax = 1 + (Max / 2);
  	OverMax = Max + (Max / 2);
  	sum_ranging = 0;
  	total_count = 0;
  
  	while ((Repeat > 0) && (Status == VL53LX_ERROR_NONE)) {
  		Status = VL53LX_StartMeasurement(Dev);
  		if (Status == VL53LX_ERROR_NONE) {
  			VL53LX_WaitMeasurementDataReady(Dev);
  			VL53LX_GetMultiRangingData(Dev,
  				&RangingMeasurementData);
  			VL53LX_ClearInterruptAndStartMeasurement(Dev);
  		}
  		inloopcount = 0;
  		offset_meas = 0;
  		while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
  				(offset_meas < OverMax)) {
  			Status = VL53LX_WaitMeasurementDataReady(Dev);
  			if (Status == VL53LX_ERROR_NONE)
  				Status = VL53LX_GetMultiRangingData(Dev,
  						&RangingMeasurementData);
  			pRange = &(RangingMeasurementData.RangeData[0]);
  			goodmeas = (pRange->RangeStatus ==
  				VL53LX_RANGESTATUS_RANGE_VALID);
  			if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
  				sum_ranging = sum_ranging +
  					pRange->RangeMilliMeter;
  				inloopcount++;
  			}
  			Status = VL53LX_ClearInterruptAndStartMeasurement(Dev);
  			offset_meas++;
  		}
  		total_count += inloopcount;
  		if (inloopcount < UnderMax)
  			Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
  		VL53LX_StopMeasurement(Dev);
  		Repeat--;
  	}
  	if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1))
  		SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable(Dev);
  	if ((sum_ranging < 0) ||
  		(sum_ranging > ((int32_t) total_count * 0xffff)))
  		Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
  
  	if ((Status == VL53LX_ERROR_NONE) && (total_count > 0)) {
  		IncRounding = total_count / 2;
  		meanDistance_mm = (int16_t)
  			((sum_ranging + IncRounding) / total_count);
  		offset = START_OFFSET - meanDistance_mm + ZeroDistanceOffset;
  		pdev->customer.algo__part_to_part_range_offset_mm = 0;
  		pdev->customer.mm_config__inner_offset_mm = offset;
  		pdev->customer.mm_config__outer_offset_mm = offset;
  		Status = VL53LX_set_customer_nvm_managed(Dev,
  			&(pdev->customer));
  	}
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  VL53LX_Error VL53LX_SetCalibrationData(VL53LX_DEV Dev,
  		VL53LX_CalibrationData_t *pCalibrationData)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_CustomerNvmManaged_t          *pC;
  	VL53LX_calibration_data_t            cal_data;
  	uint32_t x;
  	VL53LX_xtalk_calibration_results_t xtalk;
  
  	LOG_FUNCTION_START("");
  
  	cal_data.struct_version = pCalibrationData->struct_version -
  			VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
  
  
  	memcpy(
  		&(cal_data.add_off_cal_data),
  		&(pCalibrationData->add_off_cal_data),
  		sizeof(VL53LX_additional_offset_cal_data_t));
  
  
  	memcpy(
  		&(cal_data.optical_centre),
  		&(pCalibrationData->optical_centre),
  		sizeof(VL53LX_optical_centre_t));
  
  
  	memcpy(
  		&(cal_data.xtalkhisto),
  		&(pCalibrationData->xtalkhisto),
  		sizeof(VL53LX_xtalk_histogram_data_t));
  
  
  	memcpy(
  		&(cal_data.gain_cal),
  		&(pCalibrationData->gain_cal),
  		sizeof(VL53LX_gain_calibration_data_t));
  
  
  	memcpy(
  		&(cal_data.cal_peak_rate_map),
  		&(pCalibrationData->cal_peak_rate_map),
  		sizeof(VL53LX_cal_peak_rate_map_t));
  
  
  	memcpy(
  		&(cal_data.per_vcsel_cal_data),
  		&(pCalibrationData->per_vcsel_cal_data),
  		sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
  
  	pC = &pCalibrationData->customer;
  	x = pC->algo__crosstalk_compensation_plane_offset_kcps;
  	cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps =
  		(uint16_t)(x&0x0000FFFF);
  
  	cal_data.customer.global_config__spad_enables_ref_0 =
  		pC->global_config__spad_enables_ref_0;
  	cal_data.customer.global_config__spad_enables_ref_1 =
  		pC->global_config__spad_enables_ref_1;
  	cal_data.customer.global_config__spad_enables_ref_2 =
  		pC->global_config__spad_enables_ref_2;
  	cal_data.customer.global_config__spad_enables_ref_3 =
  		pC->global_config__spad_enables_ref_3;
  	cal_data.customer.global_config__spad_enables_ref_4 =
  		pC->global_config__spad_enables_ref_4;
  	cal_data.customer.global_config__spad_enables_ref_5 =
  		pC->global_config__spad_enables_ref_5;
  	cal_data.customer.global_config__ref_en_start_select =
  		pC->global_config__ref_en_start_select;
  	cal_data.customer.ref_spad_man__num_requested_ref_spads =
  		pC->ref_spad_man__num_requested_ref_spads;
  	cal_data.customer.ref_spad_man__ref_location =
  		pC->ref_spad_man__ref_location;
  	cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps =
  		pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
  	cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps =
  		pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
  	cal_data.customer.ref_spad_char__total_rate_target_mcps =
  		pC->ref_spad_char__total_rate_target_mcps;
  	cal_data.customer.algo__part_to_part_range_offset_mm =
  		pC->algo__part_to_part_range_offset_mm;
  	cal_data.customer.mm_config__inner_offset_mm =
  		pC->mm_config__inner_offset_mm;
  	cal_data.customer.mm_config__outer_offset_mm =
  		pC->mm_config__outer_offset_mm;
  
  	Status = VL53LX_set_part_to_part_data(Dev, &cal_data);
  
  	if (Status != VL53LX_ERROR_NONE)
  		goto ENDFUNC;
  
  	Status = VL53LX_get_current_xtalk_settings(Dev, &xtalk);
  
  	if (Status != VL53LX_ERROR_NONE)
  		goto ENDFUNC;
  
  	xtalk.algo__crosstalk_compensation_plane_offset_kcps = x;
  
  	Status = VL53LX_set_tuning_parm(Dev,
  			VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
  			x);
  
  
  	memcpy(
  		&(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
  		&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
  		sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
  
  	Status = VL53LX_set_current_xtalk_settings(Dev, &xtalk);
  
  ENDFUNC:
  	LOG_FUNCTION_END(Status);
  	return Status;
  
  }
  
  VL53LX_Error VL53LX_GetCalibrationData(VL53LX_DEV Dev,
  		VL53LX_CalibrationData_t  *pCalibrationData)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	VL53LX_calibration_data_t      cal_data;
  	VL53LX_CustomerNvmManaged_t         *pC;
  	VL53LX_customer_nvm_managed_t       *pC2;
  	VL53LX_xtalk_calibration_results_t xtalk;
  	uint32_t                          tmp;
  
  	LOG_FUNCTION_START("");
  
  
  	Status = VL53LX_get_part_to_part_data(Dev, &cal_data);
  
  	pCalibrationData->struct_version = cal_data.struct_version +
  			VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
  
  
  	memcpy(
  		&(pCalibrationData->add_off_cal_data),
  		&(cal_data.add_off_cal_data),
  		sizeof(VL53LX_additional_offset_cal_data_t));
  
  
  	memcpy(
  		&(pCalibrationData->optical_centre),
  		&(cal_data.optical_centre),
  		sizeof(VL53LX_optical_centre_t));
  
  
  	memcpy(
  		&(pCalibrationData->xtalkhisto),
  		&(cal_data.xtalkhisto),
  		sizeof(VL53LX_xtalk_histogram_data_t));
  
  	memcpy(
  		&(pCalibrationData->gain_cal),
  		&(cal_data.gain_cal),
  		sizeof(VL53LX_gain_calibration_data_t));
  
  
  	memcpy(
  		&(pCalibrationData->cal_peak_rate_map),
  		&(cal_data.cal_peak_rate_map),
  		sizeof(VL53LX_cal_peak_rate_map_t));
  
  
  	memcpy(
  		&(pCalibrationData->per_vcsel_cal_data),
  		&(cal_data.per_vcsel_cal_data),
  		sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
  
  	pC = &pCalibrationData->customer;
  	pC2 = &cal_data.customer;
  	pC->global_config__spad_enables_ref_0 =
  		pC2->global_config__spad_enables_ref_0;
  	pC->global_config__spad_enables_ref_1 =
  		pC2->global_config__spad_enables_ref_1;
  	pC->global_config__spad_enables_ref_2 =
  		pC2->global_config__spad_enables_ref_2;
  	pC->global_config__spad_enables_ref_3 =
  		pC2->global_config__spad_enables_ref_3;
  	pC->global_config__spad_enables_ref_4 =
  		pC2->global_config__spad_enables_ref_4;
  	pC->global_config__spad_enables_ref_5 =
  		pC2->global_config__spad_enables_ref_5;
  	pC->global_config__ref_en_start_select =
  		pC2->global_config__ref_en_start_select;
  	pC->ref_spad_man__num_requested_ref_spads =
  		pC2->ref_spad_man__num_requested_ref_spads;
  	pC->ref_spad_man__ref_location =
  		pC2->ref_spad_man__ref_location;
  	pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
  		pC2->algo__crosstalk_compensation_x_plane_gradient_kcps;
  	pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
  		pC2->algo__crosstalk_compensation_y_plane_gradient_kcps;
  	pC->ref_spad_char__total_rate_target_mcps =
  		pC2->ref_spad_char__total_rate_target_mcps;
  	pC->algo__part_to_part_range_offset_mm =
  		pC2->algo__part_to_part_range_offset_mm;
  	pC->mm_config__inner_offset_mm =
  		pC2->mm_config__inner_offset_mm;
  	pC->mm_config__outer_offset_mm =
  		pC2->mm_config__outer_offset_mm;
  
  	pC->algo__crosstalk_compensation_plane_offset_kcps =
  		(uint32_t)(
  			pC2->algo__crosstalk_compensation_plane_offset_kcps);
  
  	Status = VL53LX_get_current_xtalk_settings(Dev, &xtalk);
  
  	if (Status != VL53LX_ERROR_NONE)
  		goto ENDFUNC;
  
  	tmp = xtalk.algo__crosstalk_compensation_plane_offset_kcps;
  	pC->algo__crosstalk_compensation_plane_offset_kcps = tmp;
  	tmp = xtalk.algo__crosstalk_compensation_x_plane_gradient_kcps;
  	pC->algo__crosstalk_compensation_x_plane_gradient_kcps = tmp;
  	tmp = xtalk.algo__crosstalk_compensation_y_plane_gradient_kcps;
  	pC->algo__crosstalk_compensation_y_plane_gradient_kcps = tmp;
  
  	memcpy(&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
  		&(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
  		sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
  ENDFUNC:
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  
  
  
  VL53LX_Error VL53LX_PerformOffsetPerVcselCalibration(VL53LX_DEV Dev,
  	int32_t CalDistanceMilliMeter)
  {
  	VL53LX_Error Status = VL53LX_ERROR_NONE;
  	int32_t sum_ranging_range_A, sum_ranging_range_B;
  	uint8_t offset_meas_range_A, offset_meas_range_B;
  	int16_t Max, UnderMax, OverMax, Repeat;
  	int32_t inloopcount;
  	int32_t IncRounding;
  	int16_t meanDistance_mm;
  	VL53LX_MultiRangingData_t RangingMeasurementData;
  	VL53LX_LLDriverData_t *pdev;
  	uint8_t goodmeas;
  	VL53LX_DistanceModes currentDist;
  	VL53LX_DistanceModes DistMode[3] = {VL53LX_DISTANCEMODE_SHORT,
  			VL53LX_DISTANCEMODE_MEDIUM, VL53LX_DISTANCEMODE_LONG};
  	int16_t offsetA[3];
  	int16_t offsetB[3];
  
  	VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
  	uint8_t smudge_corr_en, ics;
  	VL53LX_TargetRangeData_t *pRange;
  
  	LOG_FUNCTION_START("");
  
  	pdev = VL53LXDevStructGetLLDriverHandle(Dev);
  
  	smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
  	SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable(Dev);
  
  	pdev->customer.algo__part_to_part_range_offset_mm = 0;
  	pdev->customer.mm_config__inner_offset_mm = 0;
  	pdev->customer.mm_config__outer_offset_mm = 0;
  	pdev->customer.mm_config__outer_offset_mm = 0;
  	memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
  
  	Repeat = 0;
  	Max = 2 * BDTable[
  		VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
  	UnderMax = 1 + (Max / 2);
  	OverMax = Max + (Max / 2);
  
  	Status = VL53LX_GetDistanceMode(Dev, &currentDist);
  
  	while ((Repeat < 3) && (Status == VL53LX_ERROR_NONE)) {
  		Status = VL53LX_SetDistanceMode(Dev, DistMode[Repeat]);
  		Status = VL53LX_StartMeasurement(Dev);
  
  		if (Status == VL53LX_ERROR_NONE) {
  			VL53LX_WaitMeasurementDataReady(Dev);
  			VL53LX_GetMultiRangingData(Dev,
  				&RangingMeasurementData);
  			VL53LX_ClearInterruptAndStartMeasurement(Dev);
  		}
  
  		inloopcount = 0;
  		offset_meas_range_A = 0;
  		sum_ranging_range_A = 0;
  		offset_meas_range_B = 0;
  		sum_ranging_range_B = 0;
  		while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
  				(inloopcount < OverMax)) {
  			Status = VL53LX_WaitMeasurementDataReady(Dev);
  			if (Status == VL53LX_ERROR_NONE)
  				Status = VL53LX_GetMultiRangingData(Dev,
  						&RangingMeasurementData);
  			pRange = &(RangingMeasurementData.RangeData[0]);
  			goodmeas = (pRange->RangeStatus ==
  				VL53LX_RANGESTATUS_RANGE_VALID);
  			ics = pdev->ll_state.cfg_internal_stream_count;
  			if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
  				if (ics & 0x01) {
  					sum_ranging_range_A +=
  						pRange->RangeMilliMeter;
  					offset_meas_range_A++;
  				} else {
  					sum_ranging_range_B +=
  						pRange->RangeMilliMeter;
  					offset_meas_range_B++;
  				}
  				inloopcount = offset_meas_range_A +
  					offset_meas_range_B;
  			}
  			Status = VL53LX_ClearInterruptAndStartMeasurement(Dev);
  		}
  
  
  		if (inloopcount < UnderMax)
  			Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
  
  		VL53LX_StopMeasurement(Dev);
  
  
  		if ((sum_ranging_range_A < 0) ||
  			(sum_ranging_range_B < 0) ||
  			(sum_ranging_range_A >
  			((int32_t) offset_meas_range_A * 0xffff)) ||
  			(sum_ranging_range_B >
  			((int32_t) offset_meas_range_B * 0xffff))) {
  			Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
  		}
  
  		if ((Status == VL53LX_ERROR_NONE) &&
  			(offset_meas_range_A > 0)) {
  			IncRounding = offset_meas_range_A / 2;
  			meanDistance_mm = (int16_t)
  				((sum_ranging_range_A + IncRounding)
  				/ offset_meas_range_A);
  			offsetA[Repeat] = (int16_t)
  				CalDistanceMilliMeter - meanDistance_mm;
  		}
  
  		if ((Status == VL53LX_ERROR_NONE) &&
  			(offset_meas_range_B > 0)) {
  			IncRounding = offset_meas_range_B / 2;
  			meanDistance_mm = (int16_t)
  				((sum_ranging_range_B + IncRounding)
  				/ offset_meas_range_B);
  			offsetB[Repeat] = (int16_t)
  				CalDistanceMilliMeter - meanDistance_mm;
  		}
  		Repeat++;
  	}
  
  	if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1))
  		SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable(Dev);
  
  	if (Status == VL53LX_ERROR_NONE) {
  		pdev->per_vcsel_cal_data.short_a_offset_mm  = offsetA[0];
  		pdev->per_vcsel_cal_data.short_b_offset_mm  = offsetB[0];
  		pdev->per_vcsel_cal_data.medium_a_offset_mm = offsetA[1];
  		pdev->per_vcsel_cal_data.medium_b_offset_mm = offsetB[1];
  		pdev->per_vcsel_cal_data.long_a_offset_mm   = offsetA[2];
  		pdev->per_vcsel_cal_data.long_b_offset_mm   = offsetB[2];
  	}
  
  	VL53LX_SetDistanceMode(Dev, currentDist);
  
  	LOG_FUNCTION_END(Status);
  	return Status;
  }
  