#ifndef VL53L0X_PLATFORM_H
#define VL53L0X_PLATFORM_H

#include <stdint.h>
#include <string.h>
#include "main.h"

#ifndef VL53L0X_SINGLE_DEVICE_DRIVER
#define VL53L0X_SINGLE_DEVICE_DRIVER 0
#endif

#include "vl53l0x_def.h"

#ifdef __cplusplus
extern "C" {
#endif

#ifndef VL53_USE_FREERTOS_DELAY
#define VL53_USE_FREERTOS_DELAY 1
#endif

#ifndef VL53L0X_COPYSTRING
#define VL53L0X_COPYSTRING(dst, src) strcpy((dst), (src))
#endif

#ifndef VL53L0X_DEFAULT_ADDR_8BIT
#define VL53L0X_DEFAULT_ADDR_8BIT 0x52u
#endif

typedef struct {
    VL53L0X_DevData_t Data;
    uint8_t   I2cDevAddr;       /* ST API expects 8-bit address, default 0x52 */
    uint8_t   comms_type;
    uint16_t  comms_speed_khz;

    I2C_HandleTypeDef *hi2c;
    GPIO_TypeDef *xshut_port;
    uint16_t xshut_pin;
    GPIO_TypeDef *gpio1_port;   /* optional */
    uint16_t gpio1_pin;

    void *bus_lock;             /* optional shared mutex/lock handle */
    const char *name;
    uint8_t id;                 /* user label: 1=左上, 2=左下, 3=右上, 4=右下 */
    uint8_t is_present;
    uint16_t io_timeout_ms;
} VL53L0X_Dev_t;

typedef VL53L0X_Dev_t* VL53L0X_DEV;

#define PALDevDataGet(Dev, field)       ((Dev)->Data.field)
#define PALDevDataSet(Dev, field, data) ((Dev)->Data.field = (data))

VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);

VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData);
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev);

void VL53L0X_PlatformAttachBus(VL53L0X_DEV Dev,
                               I2C_HandleTypeDef *hi2c,
                               uint8_t i2c_addr_8bit,
                               uint16_t io_timeout_ms,
                               void *bus_lock);

void VL53L0X_PlatformAttachPins(VL53L0X_DEV Dev,
                                GPIO_TypeDef *xshut_port,
                                uint16_t xshut_pin,
                                GPIO_TypeDef *gpio1_port,
                                uint16_t gpio1_pin);

VL53L0X_Error VL53L0X_PlatformSetXShut(VL53L0X_DEV Dev, GPIO_PinState state);
VL53L0X_Error VL53L0X_PlatformBootDevice(VL53L0X_DEV Dev, uint32_t reset_low_ms, uint32_t boot_wait_ms);
VL53L0X_Error VL53L0X_PlatformChangeAddress(VL53L0X_DEV Dev, uint8_t new_addr_8bit);
uint32_t VL53L0X_PlatformGetTick(void);

#ifdef __cplusplus
}
#endif

#endif /* VL53L0X_PLATFORM_H */