AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_vl53l0x.c

 * @brief   Proximity Sensor function implementations.

 *

 * @addtogroup lld_proximity

 * @{

 */

#include <alld_VL53L0X.h>

//#include <string.h>

//debugging

//#include <aos_thread.h>

#if (defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1)) || defined(__DOXYGEN__)

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/* LOCAL DEFINITIONS                                                          */

/******************************************************************************/

/******************************************************************************/

/* EXPORTED VARIABLES                                                         */

/******************************************************************************/

/******************************************************************************/

/* LOCAL TYPES                                                                */

/******************************************************************************/

/******************************************************************************/

/* LOCAL VARIABLES                                                            */

/******************************************************************************/

/******************************************************************************/

/* LOCAL FUNCTIONS                                                            */

/******************************************************************************/

/******************************************************************************/

/* EXPORTED FUNCTIONS                                                         */

/******************************************************************************/

/* general single register access */

void print_pal_error(VL53L0X_Error Status){

    char buf[VL53L0X_MAX_STRING_LENGTH];

    VL53L0X_GetPalErrorString(Status, buf);

    chprintf((BaseSequentialStream*)&SD1,"\t\tAPI Status: %i : %s\n", Status, buf);

}

void print_range_status(VL53L0X_RangingMeasurementData_t* pRangingMeasurementData){

    char buf[VL53L0X_MAX_STRING_LENGTH];

    uint8_t RangeStatus;

    /*

     * New Range Status: data is valid when pRangingMeasurementData->RangeStatus = 0

     */

    RangeStatus = pRangingMeasurementData->RangeStatus;

    VL53L0X_GetRangeStatusString(RangeStatus, buf);

    chprintf((BaseSequentialStream*)&SD1,"Range Status: %i : %s\n", RangeStatus, buf);

}

/**

 * @brief vl53l0x_lld_init useses the Vl53L0X functions so init the sensor. This function are VL53L0X_DataInit (performs the device initialization)

 * and VL53L0X_StaticInit (allows to load device settings specific for a given use case). These two function need 40 ms to perform.

 *

 * @param[in] vl53l0x

 * @return

 */

apalExitStatus_t vl53l0x_lld_init(VL53L0XDriver* vl53l0x)

{

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    VL53L0X_DeviceInfo_t DeviceInfo;

    if(status == VL53L0X_ERROR_NONE)

        {

            chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_DataInit\n");

            status = VL53L0X_DataInit(&(vl53l0x->vl53l0x_dev)); // Data initialization

            print_pal_error(status);

        }

    if(status == VL53L0X_ERROR_NONE)

       {

           status = VL53L0X_GetDeviceInfo(&(vl53l0x->vl53l0x_dev), &DeviceInfo);

           if(status == VL53L0X_ERROR_NONE)

           {

               chprintf((BaseSequentialStream*)&SD1,"VL53L0X_GetDeviceInfo:\n");

               chprintf((BaseSequentialStream*)&SD1,"\tDevice Name : %s\n", DeviceInfo.Name);

               chprintf((BaseSequentialStream*)&SD1,"\tDevice Type : %s\n", DeviceInfo.Type);

               chprintf((BaseSequentialStream*)&SD1,"\tDevice ID : %s\n", DeviceInfo.ProductId);

               chprintf((BaseSequentialStream*)&SD1,"\tProductRevisionMajor : %d\n", DeviceInfo.ProductRevisionMajor);

           chprintf((BaseSequentialStream*)&SD1,"\tProductRevisionMinor : %d\n", DeviceInfo.ProductRevisionMinor);

           if ((DeviceInfo.ProductRevisionMinor != 1) && (DeviceInfo.ProductRevisionMinor != 1)) {

               chprintf((BaseSequentialStream*)&SD1,"Error expected cut 1.1 but found cut %d.%d\n",

                          DeviceInfo.ProductRevisionMajor, DeviceInfo.ProductRevisionMinor);

                   status = VL53L0X_ERROR_NOT_SUPPORTED;

               }

           }

           print_pal_error(status);

    }

    /* static init and tests*/

    uint32_t refSpadCount;

    uint8_t isApertureSpads;

    uint8_t VhvSettings;

    uint8_t PhaseCal;

    if(status == VL53L0X_ERROR_NONE)

    {

        chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_StaticInit\n");

        status = VL53L0X_StaticInit(&(vl53l0x->vl53l0x_dev)); // Device Initialization

       print_pal_error(status);

    }

    /* START Load calibration data*/

    // need to be done after VL53L0X_StaticInit and before VL53L0X_PerformRefCalibration. In order to optimize the

    // dynamic of the system, the reference SPADs have to be calibrated

    // there are three different possibilities to set the Parameter

    /*

            - calibration has not been performed -> VL53L0X_PerformRefSpadManagement

            - Host has not programmed the number and type of SPADs -> VL53L0X_SetReferenceSpads

            - get the number and type of reference SPADs programmed into the device NVM -> VL53L0X_GetReferenceSpads

     */

    if(status == VL53L0X_ERROR_NONE)

    {

        // only test

       status = VL53L0X_GetReferenceSpads(&(vl53l0x->vl53l0x_dev), &refSpadCount, &isApertureSpads);

       chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_GetReferenceSpads with refSpadCount:%lu and isApertureSpads:%u \n", refSpadCount, isApertureSpads);

        chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_PerformRefSpadManagement\n");

        status |= VL53L0X_PerformRefSpadManagement(&(vl53l0x->vl53l0x_dev),

                &refSpadCount, &isApertureSpads); // Device Initialization

        chprintf((BaseSequentialStream*)&SD1,"\trefSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);

        print_pal_error(status);

        if(status == -6){

            status  = VL53L0X_ERROR_NONE;

        }

    }

    // calibration of two parameters (VHV and phase cal) which are temperature dependent,  it should be

    // performed again when temperature varies more than 8degC compared to the initial calibration temperature

    // if the user has previously performed a calibration and stored the two parameters in the Host memory we can use VL53L0X_SetRefCalibration

    if(status == VL53L0X_ERROR_NONE)

    {

        chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_PerformRefCalibration\n");

        status = VL53L0X_PerformRefCalibration(&(vl53l0x->vl53l0x_dev),

                &VhvSettings, &PhaseCal); // Device Initialization

        print_pal_error(status);

        if(status == -6){

            status  = VL53L0X_ERROR_NONE;

        }

    }

    //Offset is get via VL53L0X_GetDeviceParameters in VL53L0X_DataInit

    //VL53L0X_SetOffsetCalibrationDataMicroMeter();

    // ross-talk correction is set in VL53L0X_DataInit to 0.

    // the Host will have to program the cross-talk correction factor and enable the cross-talk correction

    /* End Load calibration data*/

    // Enable/Disable Sigma and Signal check

    // why are no values set?? with VL53L0X_SetLimitCheckValue

    if (status == VL53L0X_ERROR_NONE) {

        status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);

    }

    // why are no values seet?? with VL53L0X_SetLimitCheckValue

    if (status == VL53L0X_ERROR_NONE) {

        status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);

    }

    // Signal rate minimum threshold. Measurements with signal rates below this value are ignored.

    //This ensures that false measurements are not made due to reflection from the housing.

    if (status == VL53L0X_ERROR_NONE) {

        status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 1);

    }

    if (status == VL53L0X_ERROR_NONE) {

        status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,

                (FixPoint1616_t)(1.5*0.023*65536));

    }

    /* end static init and some tests */

    return status;

}

/**

 * @brief vl53l0x_lld_set_mode set one of the thre possible modes.

 * @param vl53l0x[in]

 * @param mode[in] one of the VL53L0X_DeviceModes, VL53L0X_DEVICEMODE_SINGLE_RANGING == 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING == 1,

 *                  VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING == 3

 * @param interrupt[in] set one of the different interrupt modes: VL53L0X_GPIOFUNCTIONALITY_OFF == 0 no interrupt,

 *                      VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW == 1 Level Low (value < thresh_low),

 *                      VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH == 2 Level High (value > thresh_high),

 *                      VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT == 3 value < thresh_low OR value > thresh_high,

 *                      VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY == 4 New Sample Ready.

 *                      The Interruptpolarity is set to low, an interrupt is created if HIGH changes to LOW.

 * @return

 */

apalExitStatus_t vl53l0x_lld_set_mode(VL53L0XDriver* vl53l0x, VL53L0X_DeviceModes mode, VL53L0X_GpioFunctionality interrupt,

                                      FixPoint1616_t low, FixPoint1616_t high)

{

    uint32_t ThresholdLow;

    uint32_t ThresholdHigh;

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    if(status == VL53L0X_ERROR_NONE)

    {

        // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement

        chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_SetDeviceMode\n");

        status = VL53L0X_SetDeviceMode(&(vl53l0x->vl53l0x_dev), mode); // Setup in single ranging mode

        print_pal_error(status);

    }

    if(status == VL53L0X_ERROR_NONE)

    {

        // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement

        chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_SetGpioConfig\n");

        status = VL53L0X_SetGpioConfig(&(vl53l0x->vl53l0x_dev), 0, mode, interrupt, VL53L0X_INTERRUPTPOLARITY_LOW);

        print_pal_error(status);

    }

    if(status == VL53L0X_ERROR_NONE && interrupt != VL53L0X_GPIOFUNCTIONALITY_OFF)

    {

        // multiplication with 65536 is imported, no clue why!

        // in single ranging high and low must be below 255, otherwise there will be no interrupt. In the other two modes the ranging is a few ms slower!

        if(mode == VL53L0X_DEVICEMODE_SINGLE_RANGING && (low > 254 || high > 254)){

            chprintf((BaseSequentialStream*)&SD1,"Device mode is VL53L0X_DEVICEMODE_SINGLE_RANGING and therefore we get no Interrupt if the interrupt "

                                                 "threshold is bigger than 254 mm\n");

        }

        ThresholdLow = low * 65536;

        ThresholdHigh = high * 65536;

        // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement

        chprintf((BaseSequentialStream*)&SD1,"Call of VL53L0X_SetInterruptThresholds\n");

        status = VL53L0X_SetInterruptThresholds(&(vl53l0x->vl53l0x_dev),interrupt,ThresholdLow ,ThresholdHigh);

        print_pal_error(status);

    }

    return status;

    /*High Accurancy

    // Enable/Disable Sigma and Signal check

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,

                (FixPoint1616_t)(0.25*65536));

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,

                (FixPoint1616_t)(18*65536));

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),

                200000);

    }

    */

    /*High Speed

    // Enable/Disable Sigma and Signal check

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,

                (FixPoint1616_t)(0.25*65536));

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,

                (FixPoint1616_t)(32*65536));

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),

                30000);

    }

    */

    /*Long Range

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckEnable(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,

                (FixPoint1616_t)(0.1*65536));

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetLimitCheckValue(&(vl53l0x->vl53l0x_dev),

                VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,

                (FixPoint1616_t)(60*65536));

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&(vl53l0x->vl53l0x_dev),

                33000);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetVcselPulsePeriod(&(vl53l0x->vl53l0x_dev),

                VL53L0X_VCSEL_PERIOD_PRE_RANGE, 18);

    }

    if (Status == VL53L0X_ERROR_NONE) {

        Status = VL53L0X_SetVcselPulsePeriod(&(vl53l0x->vl53l0x_dev),

                VL53L0X_VCSEL_PERIOD_FINAL_RANGE, 14);

    }

    */

}

/**

 * @brief vl53l0x_lld_start_measurement, use this method for interrupt mode. You must call vl53l0x_lld_set_mode beforehand.

 * @param vl53l0x

 * @return

 */

apalExitStatus_t vl53l0x_lld_start_measurement(VL53L0XDriver* vl53l0x)

{

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    status = VL53L0X_StartMeasurement(&(vl53l0x->vl53l0x_dev));

    if(status == VL53L0X_ERROR_NONE)

    {

        // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement

        chprintf((BaseSequentialStream*)&SD1,"Successful startet measurement\n");

        print_pal_error(status);

    }else{

        chprintf((BaseSequentialStream*)&SD1,"Error in startet measurement\n");

        print_pal_error(status);

    }

    return status;

}

apalExitStatus_t vl53l0x_lld_stop_measurement(VL53L0XDriver* vl53l0x)

{

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    status = VL53L0X_StopMeasurement(&(vl53l0x->vl53l0x_dev));

    return status;

}

/**

 * @brief vl53l0x_lld_perform_mesaurement with delay and not interrupts ! No need to call vl53l0x_lld_set_mode.

 *

 * write 16 Byte to 80, FF, 00, 91, 00, FF 80, 00

 *  -> read 00 and get 00 back

 * listen on 13 till we get 44 back

 * write the data from sensor 14 -> 12 B , 12 single BYTES_PER_DWORD

 * clear things: 0B -> 01 and 0B -> 00

 *

 * @param vl53l0x

 * @param data

 * @param timeout

 * @return

 */

apalExitStatus_t vl53l0x_lld_perform_mesaurement(VL53L0XDriver* vl53l0x, uint16_t* data)

{

    //the information of the measurement is saved in although in vl53l0x->vl53l0x_dev.Data.LastRangeMeasure, but only after VL53L0X_PerformSingleRangingMeasurement

    // is called

    VL53L0X_RangingMeasurementData_t    RangingMeasurementData;

    VL53L0X_RangingMeasurementData_t   *pRangingMeasurementData    = &RangingMeasurementData;

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    status = VL53L0X_PerformSingleMeasurement(&(vl53l0x->vl53l0x_dev));

    if (status == VL53L0X_ERROR_NONE)

        status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev),

            pRangingMeasurementData);

    if (status == VL53L0X_ERROR_NONE)

        status = VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);

    data[0] = RangingMeasurementData.RangeMilliMeter;

    //chprintf((BaseSequentialStream*)&SD1, "Measured distance: %i\n\n", RangingMeasurementData.RangeMilliMeter);

    //TODO write millimeter to data

    //data = &RangingMeasurementData.RangeMilliMeter;

    return status;

}

/**

 * @brief vl53l0x_lld_CheckRangingDataReady custom method, because in api was a strange phenonom

 * @param vl53l0x[in]

 * @param pMeasurementDataReady[in]

 * @return

 */

apalExitStatus_t vl53l0x_lld_CheckRangingDataReady(VL53L0XDriver* vl53l0x, uint8_t *pMeasurementDataReady)

{

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    uint8_t sysRangeStatusRegister;

    uint8_t interruptConfig;

    uint32_t interruptMask;

    //LOG_FUNCTION_START("");

   interruptConfig = vl53l0x->vl53l0x_dev.Data.DeviceSpecificParameters.Pin0GpioFunctionality;

    if (interruptConfig !=

        VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED) {

        status = VL53L0X_GetInterruptMaskStatus(&(vl53l0x->vl53l0x_dev), &interruptMask);

        if (interruptMask == interruptConfig)

            *pMeasurementDataReady = 1;

        else

            *pMeasurementDataReady = 0;

    } else {

        status = VL53L0X_RdByte(&(vl53l0x->vl53l0x_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;

}

/**

 * @brief vl53l0x_lld_getRangingData

 * @param vl53l0x

 * @param pRangingMeasurementData

 * @return

 */

apalExitStatus_t vl53l0x_lld_getRangingData(VL53L0XDriver* vl53l0x, VL53L0X_RangingMeasurementData_t *pRangingMeasurementData)

{

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev),

        pRangingMeasurementData);

    status |= VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), 0);

    return status;

}

/**

 * @brief vl53l0x_lld_set_address

 * @param vl53l0x

 * @param new_address

 * @return

 */

apalExitStatus_t vl53l0x_lld_set_address(VL53L0XDriver* vl53l0x, uint8_t new_address)

{

    VL53L0X_Error status = VL53L0X_ERROR_NONE;

    status = VL53L0X_SetDeviceAddress(&(vl53l0x->vl53l0x_dev), new_address );

    return status;

}

/*

  examples for continous getting examples without interrupt

    uint32_t measurement;

    uint32_t no_of_measurements = 32;

    uint16_t* pResults = (uint16_t*)malloc(sizeof(uint16_t) * no_of_measurements);

    for(measurement=0; measurement<no_of_measurements; measurement++)

    {

        Status = WaitMeasurementDataReady(&(vl53l0x->vl53l0x_dev));

        if(Status == VL53L0X_ERROR_NONE)

        {

            Status = VL53L0X_GetRangingMeasurementData(&(vl53l0x->vl53l0x_dev), pRangingMeasurementData);

            *(pResults + measurement) = pRangingMeasurementData->RangeMilliMeter;

            printf("In loop measurement %ld: %d\n", measurement, pRangingMeasurementData->RangeMilliMeter);

            // Clear the interrupt

            VL53L0X_ClearInterruptMask(&(vl53l0x->vl53l0x_dev), VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);

            usleep(20);

            //VL53L0X_PollingDelay(&(vl53l0x->vl53l0x_dev);

        } else {

            break;

        }

    }

    if(Status == VL53L0X_ERROR_NONE)

    {

        for(measurement=0; measurement<no_of_measurements; measurement++)

        {

            printf("measurement %ld: %d\n", measurement, *(pResults + measurement));

        }

    }

    data = &pResults[0];

    free(pResults);

    example for measurement with interrupt single

    example for measurement with interrupt continious

*/

/**

 * @brief WaitMeasurementDataReady.

 * @param Dev

 * @return

 */

VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev) {

    VL53L0X_Error Status = VL53L0X_ERROR_NONE;

    uint8_t NewDatReady=0;

    uint32_t LoopNb;

    // Wait until it finished

    // use timeout to avoid deadlock

    if (Status == VL53L0X_ERROR_NONE) {

        LoopNb = 0;

        do {

            Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady);

            if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) {

                break;

            }

            LoopNb = LoopNb + 1;

            // sleep for 50 ms

            usleep(50);

        } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);

        if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {

            Status = VL53L0X_ERROR_TIME_OUT;

        }

    }

    return Status;

}

//#define VL53L0X_POLLINGDELAY_LOOPNB  250

//int32_t VL53L0X_PollingDelay(VL53L0X_DEV Dev){

//    int32_t status = VL53L0X_ERROR_NONE;

//    //LOG_FUNCTION_START("");

////    const DWORD cTimeout_ms = 1;

//    usleep(1000);

////    HANDLE hEvent = CreateEvent(0, TRUE, FALSE, 0);

////    if(hEvent != NULL)

////    {

////        WaitForSingleObject(hEvent,cTimeout_ms);

////    }

//    //LOG_FUNCTION_END(status);

//    return status;

//}

/*============================================================================*/

/* threshold register access                                                  */

/*============================================================================*/

#endif /* defined(AMIROLLD_CFG_VL53L0X) && (AMIROLLD_CFG_VL53L0X == 1) */

/** @} */