/*******************************************************************************
* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
*
* This file is part of the VL53L8CX Ultra Lite Driver 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, the VL53L8CX Ultra Lite Driver 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.
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* Redistribution and use in source and binary forms, with or without
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/***********************************/
/*   VL53L8CX ULD visualize Xtalk  */
/***********************************/
/*
* This example shows the possibility of VL53L8CX to visualize Xtalk data. It
* initializes the VL53L8CX ULD, perform a Xtalk calibration, and starts
* a ranging to capture 10 frames.

* In this example, we also suppose that the number of target per zone is
* set to 1 , and all output are enabled (see file platform.h).
*/

#include <stdlib.h>
#include <string.h>
#include <stdio.h>
#include "vl53l8cx_api.h"
#include "vl53l8cx_plugin_xtalk.h"

int example8(void)
{

	/*********************************/
	/*   VL53L8CX ranging variables  */
	/*********************************/

	uint8_t 				status, loop, isAlive, isReady;
	VL53L8CX_Configuration 	Dev;			/* Sensor configuration */
	VL53L8CX_ResultsData 	Results;		/* Results data from VL53L8CX */
	
	/* Buffer containing Xtalk data */
	uint8_t					xtalk_data[VL53L8CX_XTALK_BUFFER_SIZE];

	
	/*********************************/
	/*      Customer platform        */
	/*********************************/

	/* Fill the platform structure with customer's implementation. For this
	* example, only the I2C address is used.
	*/
	Dev.platform.address = VL53L8CX_DEFAULT_I2C_ADDRESS;

	/* (Optional) Reset sensor toggling PINs (see platform, not in API) */
	//Reset_Sensor(&(Dev.platform));

	/* (Optional) Set a new I2C address if the wanted address is different
	* from the default one (filled with 0x20 for this example).
	*/
	//status = vl53l8cx_set_i2c_address(&Dev, 0x20);

	
	/*********************************/
	/*   Power on sensor and init    */
	/*********************************/

	/* (Optional) Check if there is a VL53L8CX sensor connected */
	status = vl53l8cx_is_alive(&Dev, &isAlive);
	if(!isAlive || status)
	{
		printf("VL53L8CX not detected at requested address\n");
		return status;
	}

	/* (Mandatory) Init VL53L8CX sensor */
	status = vl53l8cx_init(&Dev);
	if(status)
	{
		printf("VL53L8CX ULD Loading failed\n");
		return status;
	}

	printf("VL53L8CX ULD ready ! (Version : %s)\n",
			VL53L8CX_API_REVISION);
			
			
	/*********************************/
	/*    Start Xtalk calibration    */
	/*********************************/

	/* Start Xtalk calibration with a 3% reflective target at 600mm for the
	 * sensor, using 4 samples.
	 */

	printf("Running Xtalk calibration...\n");

	status = vl53l8cx_calibrate_xtalk(&Dev, 3, 4, 600);
	if(status)
	{
		printf("vl53l8cx_calibrate_xtalk failed, status %u\n", status);
		return status;
	}else
	{
		printf("Xtalk calibration done\n");

		/* Get Xtalk calibration data, in order to use them later */
		status = vl53l8cx_get_caldata_xtalk(&Dev, xtalk_data);

		/* Set Xtalk calibration data */
		status = vl53l8cx_set_caldata_xtalk(&Dev, xtalk_data);
	}
	
	/* (Optional) Visualize Xtalk grid and Xtalk shape */
	uint32_t i, j;
	union Block_header *bh_ptr;
	uint32_t xtalk_signal_kcps_grid[VL53L8CX_RESOLUTION_8X8];
	uint16_t xtalk_shape_bins[144];

	/* Swap buffer */
	SwapBuffer(xtalk_data, VL53L8CX_XTALK_BUFFER_SIZE);

	/* Get data */
	for(i = 0; i < VL53L8CX_XTALK_BUFFER_SIZE; i = i + 4)
	{
		bh_ptr = (union Block_header *)&(xtalk_data[i]);
		if (bh_ptr->idx == 0xA128){
			printf("Xtalk shape bins located at position %#06x\n", (int)i);
			for (j = 0; j < 144; j++){
				memcpy(&(xtalk_shape_bins[j]), &(xtalk_data[i + 4 + j * 2]), 2);
				printf("xtalk_shape_bins[%d] = %d\n", (int)j, (int)xtalk_shape_bins[j]);
			}
		}
		if (bh_ptr->idx == 0x9FFC){
			printf("Xtalk signal kcps located at position %#06x\n", (int)i);
			for (j = 0; j < VL53L8CX_RESOLUTION_8X8; j++){
				memcpy(&(xtalk_signal_kcps_grid[j]), &(xtalk_data[i + 4 + j * 4]), 4);
				xtalk_signal_kcps_grid[j] /= 2048;
				printf("xtalk_signal_kcps_grid[%d] = %d\n", (int)j, (int)xtalk_signal_kcps_grid[j]);
			}
		}
	}

	/* Re-Swap buffer (in case of re-using data later) */
	SwapBuffer(xtalk_data, VL53L8CX_XTALK_BUFFER_SIZE);

	
	/*********************************/
	/*         Ranging loop          */
	/*********************************/

	status = vl53l8cx_start_ranging(&Dev);

	loop = 0;
	while(loop < 10)
	{
		/* Use polling function to know when a new measurement is ready.
		 * Another way can be to wait for HW interrupt raised on PIN A1
		 * (INT) when a new measurement is ready */
 
		status = vl53l8cx_check_data_ready(&Dev, &isReady);

		if(isReady)
		{
			vl53l8cx_get_ranging_data(&Dev, &Results);

			/* As the sensor is set in 4x4 mode by default, we have a total 
			 * of 16 zones to print. For this example, only the data of first zone are 
			 * print */
			printf("Print data no : %3u\n", Dev.streamcount);
			for(i = 0; i < 16; i++)
			{
				printf("Zone : %3d, Status : %3u, Distance : %4d mm\n",
					(int)i,
					Results.target_status[VL53L8CX_NB_TARGET_PER_ZONE*i],
					Results.distance_mm[VL53L8CX_NB_TARGET_PER_ZONE*i]);
			}
			printf("\n");
			loop++;
		}

		/* Wait a few ms to avoid too high polling (function in platform
		 * file, not in API) */
		WaitMs(&(Dev.platform), 5);
	}

	status = vl53l8cx_stop_ranging(&Dev);
	printf("End of ULD demo\n");
	return status;
}