vl53l1x calibration

#include <Arduino.h>
#include <SparkFun_VL53L1X.h>
#include <Wire.h>

/* I2C-1 standard pins: PB7(sda) PB6(scl) */


/*
// Default pin used for generic 'Serial' instance
// Mandatory for Firmata
#ifndef PIN_SERIAL_RX
  #define PIN_SERIAL_RX         PA3
#endif
#ifndef PIN_SERIAL_TX
  #define PIN_SERIAL_TX         PA2
#endif
 */

#define OFFSET_CALIBRATION_DISTANCE 140    // mm
#define XTALK_CALIBRATION_DISTANCE 500    // mm
int xtalkCalibrationDistance = XTALK_CALIBRATION_DISTANCE;
#define SHUTDOWN_PIN PB7
#define INTERRUPT_PIN PB6
SFEVL53L1X distanceSensor(Wire, SHUTDOWN_PIN, INTERRUPT_PIN);

#define Button_Pin PA0
unsigned long oneButtonPeriod = 100;    // the debounce time; increase if the output flickers
int buttonState;             // the current reading from the input pin
int lastButtonState = LOW;   // the previous reading from the input pin

// VL53L1X* ranger = distanceSensor._device;

void readDistance();
void calibrateXTalk();
void calibrateOffset();

void setup()
{
    pinMode(LED_BUILTIN,OUTPUT);
    digitalWrite(LED_BUILTIN, LOW);
    pinMode(Button_Pin, INPUT);

    Serial.setTx(PB10);
    Serial.setRx(PB11);
    Serial.begin(115200);
    Wire.setSDA(PB9);
    Wire.setSCL(PB8);
    Wire.setClock(10000U);
    Wire.begin();

    Serial.println("VL53L1X Qwiic Test");

    if (distanceSensor.begin() != 0) // Begin returns 0 on a good init
    {
        Serial.println("Sensor failed to begin. Please check wiring. Freezing...");
        while (1)
            ;
    }
    Serial.println("Sensor online!");
    distanceSensor.setDistanceModeShort();
    distanceSensor.setTimingBudgetInMs(100);
    distanceSensor.setOffset((int16_t)2034);
    // ranger.VL53L1X_SensorInit();
    // ranger.VL53L1X_StartRanging();
    delay(100);
    digitalWrite(LED_BUILTIN, HIGH);
}

void loop()
{
    static uint32_t prevmillis = 0;
    static int pressedButton = 0;
    if (millis() - prevmillis >= oneButtonPeriod)
    {
        bool buttonState = digitalRead(Button_Pin);
        pressedButton += buttonState;
        if (pressedButton >= 1 && buttonState == LOW /* Unpressed */)
        {
            Serial.printf("Debounced button\n");
            if (pressedButton > 10 /* Long press */)
            {
                calibrateXTalk();
            }
            else
            {
                calibrateOffset();
            }
            pressedButton = 0;
        }
        prevmillis = millis();
    }
    // readDistance();
    // delay(1000);

    static uint32_t prevmillis_Distance;
    if (millis() - prevmillis_Distance >= 500)
    {
        readDistance();
        prevmillis_Distance = millis();
        if (Serial.available())
        {
            auto i = Serial.parseInt();
            if (i)
            {
                Serial.printf("The xTalk distance is set to %d\n", i);
                xtalkCalibrationDistance = i;
            }
        }
    }
}

void calibrateXTalk()
{
    auto currentXtalk = distanceSensor.getXTalk();
    distanceSensor.calibrateXTalk(xtalkCalibrationDistance);
    auto calibratedXtalk = distanceSensor.getXTalk();

    Serial.printf("\tcurrentXtalk=%u\tcalibratedXtalk=%u\n", currentXtalk, calibratedXtalk);
}
void calibrateOffset()
{
    auto currentOffset = distanceSensor.getOffset();
    distanceSensor.calibrateOffset(OFFSET_CALIBRATION_DISTANCE);
    auto calibratedOffset = distanceSensor.getOffset();
    Serial.printf("\tcurrentOffset=%u\tcalibratedOffset=%u\n", currentOffset, calibratedOffset);

}
void readDistance()
{
    distanceSensor.startOneshotRanging(); // Write configuration bytes to initiate measurement
    while (!distanceSensor.checkForDataReady())
    {
        delay(1);
    }
    int distance = distanceSensor.getDistance(); // Get the result of the measurement from the sensor
    distanceSensor.clearInterrupt();
    distanceSensor.stopRanging();

    Serial.printf("Distance(mm): %d\n", distance);

    // float distanceInches = distance * 0.0393701;
    // float distanceFeet = distanceInches / 12.0;

    // Serial.print("\tDistance(ft): ");
    // Serial.print(distanceFeet, 2);
}