#ifndef VL53_BOARD_H
#define VL53_BOARD_H

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

#include "vl53l1_api.h"
#include "vl53l1_platform.h"

#ifdef __cplusplus
extern "C" {
#endif

#define VL53_MAX_DEVS_PER_BOARD 4

typedef struct {
    I2C_HandleTypeDef *hi2c;
    GPIO_TypeDef *xshut_port;
    uint16_t xshut_pin;
    uint8_t runtime_addr_8bit;
    const char *name;
    uint8_t id;
} Vl53BoardHwCfg_t;

typedef struct {
    float x;
    float alpha;
    uint8_t initialized;
} Vl53EMA_t;

typedef struct {
    uint32_t tick_ms;
    uint16_t range_mm[VL53_MAX_DEVS_PER_BOARD];
    float    range_mm_filtered[VL53_MAX_DEVS_PER_BOARD];
    uint8_t  range_status[VL53_MAX_DEVS_PER_BOARD];
    uint8_t  valid_mask;
} Vl53BoardSnapshot_t;

typedef struct {
    VL53L1_Dev_t dev[VL53_MAX_DEVS_PER_BOARD];
    Vl53EMA_t    ema[VL53_MAX_DEVS_PER_BOARD];
    uint8_t init_mask;
    uint8_t dev_count;
    uint32_t timing_budget_us;
} Vl53Board_t;

VL53L1_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us);
VL53L1_Error Vl53Board_StartContinuous(Vl53Board_t *board);
VL53L1_Error Vl53Board_StopContinuous(Vl53Board_t *board);
VL53L1_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot);

#ifdef __cplusplus
}
#endif

#endif /* VL53_BOARD_H */