diff --git a/drivers/input/misc/vl53L1_14_1_2/Kbuild b/drivers/input/misc/vl53L1_14_1_2/Kbuild
index cf7d7d8a62b4..f08477552a86 100644
--- a/drivers/input/misc/vl53L1_14_1_2/Kbuild
+++ b/drivers/input/misc/vl53L1_14_1_2/Kbuild
@@ -2,7 +2,7 @@
 # Kbuild for the vl53L1 drivers.
 #
 
-EXTRA_CFLAGS += -Wall
+EXTRA_CFLAGS += -Wall -Wno-unused-but-set-variable
 EXTRA_CFLAGS += -I$(ANDROID_BUILD_TOP)/motorola/kernel/modules/include
 EXTRA_CFLAGS += -I$(ANDROID_BUILD_TOP)/motorola/kernel/modules/drivers/input/misc/vl53L1_14_1_2/inc \
 				-I$(ANDROID_BUILD_TOP)/motorola/kernel/modules/drivers/input/misc/vl53L1_14_1_2/ipp \
diff --git a/drivers/input/misc/vl53l1_test/Android.mk b/drivers/input/misc/vl53l1_test/Android.mk
new file mode 100644
index 000000000000..2f1483ba5cf4
--- /dev/null
+++ b/drivers/input/misc/vl53l1_test/Android.mk
@@ -0,0 +1,50 @@
+LOCAL_PATH:= $(call my-dir)
+
+ifneq ($(findstring stmvl53l1.ko,$(BOARD_VENDOR_KERNEL_MODULES)),)
+VL53L1_BARE_DRV_INC += motorola/kernel/modules/drivers/input/misc/vl53L1
+VL53L1_BARE_DRV_INC += motorola/kernel/modules/drivers/input/misc/vl53L1/inc
+else ifneq ($(findstring stmvl53l3.ko,$(BOARD_VENDOR_KERNEL_MODULES)),)
+VL53L1_BARE_DRV_INC += motorola/kernel/modules/drivers/input/misc/vl53L1_14_1_2
+VL53L1_BARE_DRV_INC += motorola/kernel/modules/drivers/input/misc/vl53L1_14_1_2/inc
+else
+VL53L1_BARE_DRV_INC += kernel/msm-4.14/drivers/input/misc/vl53L1
+VL53L1_BARE_DRV_INC += kernel/msm-4.14/drivers/input/misc/vl53L1/inc
+endif
+
+include $(CLEAR_VARS)
+LOCAL_MODULE := vl53l1_reg
+LOCAL_PROPRIETARY_MODULE := true
+LOCAL_C_INCLUDES += $(LOCAL_PATH)
+LOCAL_C_INCLUDES += $(VL53L1_BARE_DRV_INC)
+LOCAL_SRC_FILES := vl53l1_reg.c
+LOCAL_SHARED_LIBRARIES:=libc
+include $(BUILD_EXECUTABLE)
+
+include $(CLEAR_VARS)
+LOCAL_MODULE := vl53l1_iotest
+LOCAL_PROPRIETARY_MODULE := true
+LOCAL_C_INCLUDES += $(LOCAL_PATH)
+LOCAL_C_INCLUDES += $(VL53L1_BARE_DRV_INC)
+LOCAL_SRC_FILES := vl53l1_iotest.c
+LOCAL_SHARED_LIBRARIES:=libc
+include $(BUILD_EXECUTABLE)
+
+ifneq ($(findstring stmvl53l3.ko,$(BOARD_VENDOR_KERNEL_MODULES)),)
+include $(CLEAR_VARS)
+LOCAL_MODULE := phio
+LOCAL_PROPRIETARY_MODULE := true
+LOCAL_C_INCLUDES += $(LOCAL_PATH)
+LOCAL_C_INCLUDES += $(VL53L1_BARE_DRV_INC)
+LOCAL_SRC_FILES := phio_14_1_2.c
+LOCAL_SHARED_LIBRARIES := libc
+include $(BUILD_EXECUTABLE)
+else
+include $(CLEAR_VARS)
+LOCAL_MODULE := phio
+LOCAL_PROPRIETARY_MODULE := true
+LOCAL_C_INCLUDES += $(LOCAL_PATH)
+LOCAL_C_INCLUDES += $(VL53L1_BARE_DRV_INC)
+LOCAL_SRC_FILES := phio.c
+LOCAL_SHARED_LIBRARIES := libc
+include $(BUILD_EXECUTABLE)
+endif
diff --git a/drivers/input/misc/vl53l1_test/phio.c b/drivers/input/misc/vl53l1_test/phio.c
new file mode 100644
index 000000000000..347ed276a8d3
--- /dev/null
+++ b/drivers/input/misc/vl53l1_test/phio.c
@@ -0,0 +1,3034 @@
+/**
+ *@file  phio.c  cmd line tools to stmvl531 ioctl interface
+ *
+ */
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <dirent.h>
+
+#include <linux/input.h>
+
+/* local bare driver top api file */
+#include "vl53l1_def.h"
+/* our driver kernel interface */
+#include "stmvl53l1_if.h"
+#include "stmvl53l1_internal_if.h"
+
+#include <time.h>
+#include <getopt.h>
+
+#define UNUSED __attribute__((unused))
+
+#ifndef MAX
+#define MAX(a,b ) ((a)> (b) ? (a) : (b))
+#endif
+#ifndef MIN
+#define MIN(a,b ) ((a)< (b) ? (a) : (b))
+#endif
+
+#define MIN_AUTONOMOUS_TIMING_BUDGET   41000 /* in ms */
+#define MIN_LITE_TIMING_BUDGET         17000
+#define MIN_AUTOLOWPOWER_TIMING_BUDGET 20000
+#define MIN_DEFAULT_TIMING_BUDGET       8000
+
+#define EVENT_NB	14
+const int index_to_code[EVENT_NB] = {ABS_DISTANCE, ABS_HAT0X, ABS_HAT0Y, ABS_HAT1X,
+	ABS_HAT1Y, ABS_HAT2X, ABS_HAT2Y, ABS_HAT3X, ABS_HAT3Y, ABS_WHEEL, ABS_PRESSURE,
+	ABS_BRAKE, ABS_TILT_X, ABS_TOOL_WIDTH};
+static int event_values[EVENT_NB];
+static int input_fd;
+
+#define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))
+
+#define SYSFS_MAX_LEN			4096
+
+#define verbose(fmt, ...)\
+	do{ \
+		printf("[V]" fmt"\n", ##__VA_ARGS__);\
+		fflush(stdout);\
+	}while(0)
+
+#define info(fmt, ...)\
+	do{ \
+		printf("[I]" fmt"\n", ##__VA_ARGS__);\
+		fflush(stdout);\
+	}while(0)
+
+#define error(fmt, ...)  fprintf(stderr, "[E] " fmt"\n", ##__VA_ARGS__)
+#define warn(fmt, ...)  fprintf(stderr, "[W] " fmt"\n", ##__VA_ARGS__)
+
+#define debug(fmt,...)\
+	do{ \
+		printf("d " fmt"\n", ##__VA_ARGS__); \
+		fflush(stdout);\
+	}while(0)
+
+
+#define ioctl_error(fmt,...) do { \
+	int is_eio_error = errno == EIO; \
+	fprintf(stderr, "[Eio] %s " fmt"" , __func__, ##__VA_ARGS__); \
+	if (is_eio_error) \
+		display_device_error(dev_fd); \
+	else \
+		fprintf(stderr, "\n"); \
+} while(0)
+#define ioctl_warn(fmt,...)  fprintf(stderr, "[Wio] %s " fmt"\n" , __func__, ##__VA_ARGS__)
+
+#define timer_start(t) clock_gettime(CLOCK_MONOTONIC, t)
+
+static int is_sysfs;
+
+extern int dev_fd;
+
+#define IMPLEMENT_PARAMETER_INTEGER(sysfs_name, parameter_name) \
+int stmvl53l1_get_##sysfs_name(int fd, uint32_t *param) \
+{ \
+	return is_sysfs ? stmvl53l1_get_integer_sysfs(param, #sysfs_name) \
+		: stmvl53l1_get_integer_ioctl(fd, param, parameter_name); \
+} \
+ \
+int stmvl53l1_set_##sysfs_name(int fd, uint32_t param) \
+{ \
+	return is_sysfs ? stmvl53l1_set_integer_sysfs(param, #sysfs_name) \
+		: stmvl53l1_set_integer_ioctl(fd, param, parameter_name); \
+}
+
+static void display_device_error(int fd)
+{
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = VL53L1_LASTERROR_PAR;
+
+	ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	fprintf(stderr, " [device i/o error is %d]\n", params.value);
+}
+
+long  timer_elapsed_us(struct timespec *pt){
+	struct timespec now;
+	clock_gettime(CLOCK_MONOTONIC, &now);
+	long delta = (now.tv_sec-pt->tv_sec) + (now.tv_nsec-pt->tv_nsec)/1000;
+	if( now.tv_nsec-pt->tv_nsec < 0){
+		delta+=1000000;
+	}
+	return delta;
+}
+
+static float auto_16x16_to_float(FixPoint1616_t fix)
+{
+	return fix / 65536.0;
+}
+
+static FixPoint1616_t auto_float_to_16x16(float f)
+{
+	return (uint32_t)(f * 65536);
+}
+
+static char *strjoin_with_separator(char *a, char *b)
+{
+	char *res = malloc(strlen(a) + 1 + strlen(b) + 1);
+
+	if (res) {
+		strcpy(res, a);
+		res[strlen(a)] = '/';
+		res[strlen(a)+1] = '\0';
+		strcat(res, b);
+	}
+
+	return res;
+}
+
+static char *test_sysfs_root(char *dirname)
+{
+	char *full_dir = strjoin_with_separator("/sys/class/input", dirname);
+	char *full_name_path = NULL;
+	int fd = -1;
+	char b[SYSFS_MAX_LEN] = "\n";
+	int rc;
+
+	if (!full_dir)
+		goto error;
+
+	full_name_path = strjoin_with_separator(full_dir, "name");
+	if (!full_name_path)
+		goto error;
+
+	fd = open(full_name_path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		goto error;
+
+	/* replace new line with end of string */
+	b[rc-1] = '\0';
+	if (strcmp("STM VL53L1 proximity sensor", b))
+		goto error;
+
+	free(full_name_path);
+	close(fd);
+
+	return full_dir;
+
+error:
+	if (full_dir)
+		free(full_dir);
+	if (full_name_path)
+		free(full_name_path);
+	if (fd >= 0)
+		close(fd);
+
+	return NULL;
+}
+
+
+static char *stmvl53l1_sysfs_find_device()
+{
+	static char *sysfs_root = NULL;
+
+	if (!sysfs_root) {
+		DIR *d;
+		struct dirent *dir;
+
+		d = opendir("/sys/class/input");
+		if (d) {
+			while ((dir = readdir(d)) != NULL) {
+				sysfs_root = test_sysfs_root(dir->d_name);
+				if (sysfs_root)
+					break;
+			}
+			closedir(d);
+		}
+		if (sysfs_root)
+			verbose("sysfs dir %s", sysfs_root);
+	}
+
+	return sysfs_root;
+}
+
+static int stmvl53l1_sysfs_open(char *name, int is_read)
+{
+	int fd = -1;
+	char *path = stmvl53l1_sysfs_find_device();
+	char *full_path;
+
+	if (!path)
+		return -1;
+
+	full_path = strjoin_with_separator(path, name);
+	if (!full_path)
+		return -1;
+
+	fd = open(full_path, is_read ? O_RDONLY: O_WRONLY);
+
+	free(full_path);
+
+	return fd;
+}
+
+static int stmvl53l1_sysfs_open_read(char *name)
+{
+	return stmvl53l1_sysfs_open(name , 1);
+}
+
+static int stmvl53l1_sysfs_open_write(char *name)
+{
+	return stmvl53l1_sysfs_open(name , 0);
+}
+
+static int stmvl53l1_sysfs_read_integer(char *name, int *res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	*res = atoi(b);
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_read_float(char *name, float *res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	*res = atof(b);
+
+	close(fd);
+
+	return 0;
+}
+
+UNUSED static int stmvl53l1_sysfs_read_two_integer(char *name, int *res, int *res2)
+{
+	int fd;
+	int rc = 0;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	rc = sscanf(b, "%d %d", res, res2);
+	if (rc != 2)
+		rc = -1;
+
+	close(fd);
+
+	return rc;
+}
+
+static int stmvl53l1_sysfs_read_two_float(char *name, float *res, float *res2)
+{
+	int fd;
+	int rc = 0;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	rc = sscanf(b, "%f %f", res, res2);
+	if (rc != 2)
+		rc = -1;
+
+	close(fd);
+
+	return rc;
+}
+
+static int stmvl53l1_sysfs_write_string(char *name, char *str)
+{
+	int fd;
+	int rc;
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = write(fd, str, strlen(str) + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_read_string(char *name, char *str)
+{
+	int fd;
+	int rc;
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	rc = read(fd, str, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	str[rc] = '\0';
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_write_integer(char *name, int res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = sprintf(b, "%d", res);
+	rc = write(fd, b, rc + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_write_two_integer(char *name, int res, int res2)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = sprintf(b, "%d %d", res, res2);
+	rc = write(fd, b, rc + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_write_float(char *name, float res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = sprintf(b, "%f", res);
+	rc = write(fd, b, rc + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_read_binary_data(char *name, void *buf, int size)
+{
+	int fd;
+	int rc = 0;
+    unsigned char *cp = buf;
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	while (size) {
+		rc = read(fd, cp, size);
+		if (rc <= 0)
+			break;
+		size -= rc;
+		cp += rc;
+	}
+
+	return rc <= 0 ? -1 : 0;
+}
+
+static int stmvl53l1_sysfs_write_binary_data(char *name, void *buf, int size)
+{
+	int fd;
+	int rc = 0;
+    unsigned char *cp = buf;
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	while (size) {
+		rc = write(fd, cp, size);
+		if (rc <= 0)
+			break;
+		size -= rc;
+		cp += rc;
+	}
+
+	return rc <= 0 ? -1 : 0;
+}
+
+/* generic function to set/get parameter which is of integer type */
+static int stmvl53l1_set_integer_sysfs(uint32_t param, char *sysfs_name)
+{
+	return stmvl53l1_sysfs_write_integer(sysfs_name, param);
+}
+
+static int stmvl53l1_set_integer_ioctl(int fd, uint32_t param, stmv53l1_parameter_name_e parameter_name)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 0;
+	params.name = parameter_name;
+	params.value = param;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("ebusy can't set now");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+static int stmvl53l1_get_integer_sysfs(uint32_t *param, char *sysfs_name)
+{
+	return stmvl53l1_sysfs_read_integer(sysfs_name, (int *) param);
+}
+
+static int stmvl53l1_get_integer_ioctl(int fd, uint32_t *param, stmv53l1_parameter_name_e parameter_name)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = parameter_name;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	} else{
+		rc = params.status;
+		if( rc == 0 )
+			*param = params.value;
+	}
+
+	return rc;
+}
+
+static int code_to_index(int code)
+{
+	int i;
+
+	for(i = 0; i < EVENT_NB; i++) {
+		if (index_to_code[i] == code)
+			break;
+	}
+
+	return i == EVENT_NB ? -1 : i;
+}
+
+static char *test_event_path(char *event_path)
+{
+	int fd = -1;
+	int rc;
+	char name[256] = "\n";
+	char *full_event_path = NULL;
+
+	full_event_path = strjoin_with_separator("/dev/input", event_path);
+	if (!full_event_path)
+		goto error;
+
+	fd = open(full_event_path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = ioctl(fd, EVIOCGNAME(sizeof(name)), name);
+	if (rc < 0)
+		goto error;
+
+	if (strcmp("STM VL53L1 proximity sensor", name))
+		goto error;
+
+	close(fd);
+
+	return full_event_path;
+
+error:
+	if (full_event_path)
+		free(full_event_path);
+	if (fd >= 0)
+		close(fd);
+
+	return NULL;
+}
+
+static char *stmvl53l1_find_event_path()
+{
+	static char *event_path = NULL;
+
+	if (!event_path) {
+		DIR *d;
+		struct dirent *dir;
+
+		d = opendir("/dev/input");
+		if (d) {
+			while ((dir = readdir(d)) != NULL) {
+				event_path = test_event_path(dir->d_name);
+				if (event_path)
+					break;
+			}
+			closedir(d);
+		}
+
+		if (event_path)
+			verbose("event path %s", event_path);
+	}
+
+	return event_path;
+}
+
+static int stmvl53l1_input_open()
+{
+	char *event = stmvl53l1_find_event_path();
+
+	if (!event)
+		return -1;
+
+	return open(event, O_RDONLY);
+}
+
+static int open_input_subsystem()
+{
+	input_fd = stmvl53l1_input_open();
+	int i;
+
+	memset(&event_values, 0, sizeof(event_values));
+	if (input_fd >= 0) {
+		for(i = 0; i < EVENT_NB; i++) {
+			struct input_absinfo info;
+			int rc = ioctl(input_fd, EVIOCGABS(index_to_code[i]), &info);
+			if (rc < 0) {
+				close(input_fd);
+				return -1;
+			}
+			event_values[i] = info.value;
+		}
+	}
+
+	return input_fd;
+}
+
+static void close_input_subsystem()
+{
+	close(input_fd);
+}
+
+int write_file(char *name, char *buf, int len)
+{
+	int fd;
+	int sz;
+
+	fd = open(name, O_WRONLY | O_CREAT, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH);
+	if (fd < -1) {
+		error("Unable to create %s", name);
+
+		return fd;
+	}
+
+	while(len) {
+		sz = write(fd, buf, len);
+		if (sz <= 0) {
+			error("Unable to write all data in %s", name);
+			return -1;
+		}
+		len -= sz;
+		buf += sz;
+	}
+
+	close(fd);
+
+	return 0;
+}
+
+int read_file(char *name, char *buf, int len)
+{
+	int fd;
+	int sz;
+
+	fd = open(name, O_RDONLY);
+	if (fd < -1) {
+		error("Unable to open %s for read", name);
+
+		return fd;
+	}
+
+	while(len) {
+		sz = read(fd, buf, len);
+		if (sz <= 0) {
+			error("Unable to read all data from %s", name);
+			return -1;
+		}
+		len -= sz;
+		buf += sz;
+	}
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_start_sysfs()
+{
+	return stmvl53l1_sysfs_write_integer("enable_ps_sensor", 1);
+}
+
+static int stmvl53l1_start_ioctl(int fd){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_START,NULL);
+	if( rc ){
+		if( errno == EBUSY){
+			//the devise is already started mke err code >0
+			ioctl_warn("already started or calibrating");
+			return EBUSY;
+		}
+	}
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_start(int fd)
+{
+	return is_sysfs ? stmvl53l1_start_sysfs() : stmvl53l1_start_ioctl(fd);
+}
+
+static int stmvl53l1_stop_sysfs()
+{
+	return stmvl53l1_sysfs_write_integer("enable_ps_sensor", 0);
+}
+
+static int stmvl53l1_stop_ioctl(int fd){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_STOP,NULL);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("already stopped");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_stop(int fd)
+{
+	return is_sysfs ? stmvl53l1_stop_sysfs() : stmvl53l1_stop_ioctl(fd);
+}
+
+IMPLEMENT_PARAMETER_INTEGER(timing_budget, VL53L1_TIMINGBUDGET_PAR)
+IMPLEMENT_PARAMETER_INTEGER(set_delay_ms, VL53L1_POLLDELAY_PAR)
+IMPLEMENT_PARAMETER_INTEGER(mode, VL53L1_DEVICEMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(distance_mode, VL53L1_DISTANCEMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(crosstalk_enable, VL53L1_XTALKENABLE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(output_mode, VL53L1_OUTPUTMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(offset_correction_mode, VL53L1_OFFSETCORRECTIONMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(force_device_on_enable, VL53L1_FORCEDEVICEONEN_PAR)
+IMPLEMENT_PARAMETER_INTEGER(dmax_mode, VL53L1_DMAXMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(smudge_correction_mode, VL53L1_SMUDGECORRECTIONMODE_PAR)
+
+int stmvl53l1_get_data(int fd, stmvl531_range_data_t *data){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_GETDATAS, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+
+int stmvl53l1_get_mz_data(int fd, VL53L1_MultiRangingData_t *data){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_get_mz_data_additional(int fd, struct stmvl53l1_data_with_additional *data){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA_ADDITIONAL, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+static void process_ewok_event(struct input_event *event)
+{
+	int index = code_to_index(event->code);
+
+	if (index < 0)
+		debug("unknown code %d", event->code);
+	else
+		event_values[index] = event->value;
+}
+
+void event_values_to_data(stmvl531_range_data_t *data)
+{
+	data->TimeStamp = event_values[code_to_index(ABS_HAT0X)] * 1000 +
+		event_values[code_to_index(ABS_HAT0Y)] / 1000;
+	data->RangeMilliMeter = event_values[code_to_index(ABS_HAT1X)];
+	data->RangeStatus = event_values[code_to_index(ABS_HAT1Y)];
+	data->SignalRateRtnMegaCps = event_values[code_to_index(ABS_HAT2X)];
+	data->AmbientRateRtnMegaCps = event_values[code_to_index(ABS_HAT2Y)];
+	data->SigmaMilliMeter =event_values[code_to_index(ABS_HAT3X)];
+//	data->DmaxMilliMeter = event_values[code_to_index(ABS_HAT3Y)];
+	data->EffectiveSpadRtnCount = event_values[code_to_index(ABS_PRESSURE)];
+//	data->RangeMaxMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 16) & 0xffff;
+//	data->RangeMinMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 0) & 0xffff;
+	data->RangeQualityLevel = event_values[code_to_index(ABS_TOOL_WIDTH)];
+}
+
+void event_values_to_targetdata(VL53L1_MultiRangingData_t *mdata, int obj_current)
+{
+	VL53L1_TargetRangeData_t *data = &mdata->RangeData[obj_current];
+	mdata->TimeStamp = event_values[code_to_index(ABS_HAT0X)] * 1000 +
+		event_values[code_to_index(ABS_HAT0Y)] / 1000;
+	data->RangeMilliMeter = event_values[code_to_index(ABS_HAT1X)];
+	data->RangeStatus = event_values[code_to_index(ABS_HAT1Y)];
+	data->SignalRateRtnMegaCps = event_values[code_to_index(ABS_HAT2X)];
+	data->AmbientRateRtnMegaCps = event_values[code_to_index(ABS_HAT2Y)];
+	data->SigmaMilliMeter =event_values[code_to_index(ABS_HAT3X)];
+	mdata->DmaxMilliMeter = event_values[code_to_index(ABS_HAT3Y)];
+	mdata->EffectiveSpadRtnCount = event_values[code_to_index(ABS_PRESSURE)];
+	data->RangeMaxMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 16) & 0xffff;
+	data->RangeMinMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 0) & 0xffff;
+	data->RangeQualityLevel = event_values[code_to_index(ABS_TOOL_WIDTH)];
+}
+
+static int collect_event_until_next_syn_report()
+{
+	struct input_event event;
+	int is_syn_report_rcv = 0;
+	int rc;
+
+	while(!is_syn_report_rcv) {
+		rc = read(input_fd, &event, sizeof(event));
+		if (rc < 0 || rc != sizeof(event))
+			return -1;
+		switch(event.type) {
+			case EV_ABS:
+				process_ewok_event(&event);
+				break;
+			case EV_SYN:
+				if (event.code == SYN_REPORT)
+					is_syn_report_rcv = 1;
+				else if (event.code == SYN_DROPPED) {
+					debug("loose sync");
+					return -1;
+				} else {
+					debug("unknown code %d", event.code);
+					return -1;
+				}
+				break;
+			default:
+				debug("unsupported event type = %d", event.type);
+		}
+	}
+
+	return 0;
+}
+
+static int stmvl53l1_get_data_blocking_sysfs(stmvl531_range_data_t *data)
+{
+	int rc;
+
+	rc = collect_event_until_next_syn_report();
+	if (rc)
+		return rc;
+	event_values_to_data(data);
+
+	return 0;
+}
+
+static int stmvl53l1_get_data_blocking_ioctl(int fd, stmvl531_range_data_t *data)
+{
+	int rc;
+
+	rc= ioctl(fd, VL53L1_IOCTL_GETDATAS_BLOCKING, data);
+	if(rc != 0) {
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+
+	return rc;
+}
+
+int stmvl53l1_get_data_blocking(int fd, stmvl531_range_data_t *data)
+{
+	return is_sysfs ? stmvl53l1_get_data_blocking_sysfs(data)
+		: stmvl53l1_get_data_blocking_ioctl(fd, data);
+}
+
+static int event_values_to_multidata(VL53L1_MultiRangingData_t *data)
+{
+	int roiStatus = (event_values[code_to_index(ABS_BRAKE)] >> 24) & 0xff;
+	int roi = (event_values[code_to_index(ABS_BRAKE)] >> 16) & 0xff;
+	int obj_number = (event_values[code_to_index(ABS_BRAKE)] >> 8) & 0xff;
+	int obj_current = (event_values[code_to_index(ABS_BRAKE)] >> 0) & 0xff;
+
+	data->RoiNumber = roi;
+	data->NumberOfObjectsFound = obj_number;
+	data->RoiStatus = roiStatus;
+	event_values_to_targetdata(data, obj_current);
+
+	return obj_number == (obj_current + 1);
+}
+
+static int stmvl53l1_get_mz_data_blocking_sysfs(VL53L1_MultiRangingData_t *data)
+{
+	int rc;
+	int is_last = 0;
+
+	do {
+		rc = collect_event_until_next_syn_report();
+		if (rc)
+			return rc;
+		is_last = event_values_to_multidata(data);
+	} while(!is_last);
+
+	return 0;
+}
+
+static int stmvl53l1_get_mz_data_blocking_ioctl(int fd, VL53L1_MultiRangingData_t *data)
+{
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA_BLOCKING, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_get_mz_data_blocking(int fd, VL53L1_MultiRangingData_t *data)
+{
+	return is_sysfs ? stmvl53l1_get_mz_data_blocking_sysfs(data)
+		: stmvl53l1_get_mz_data_blocking_ioctl(fd, data);
+}
+
+int stmvl53l1_get_mz_data_blocking_additional(int fd, struct stmvl53l1_data_with_additional *data)
+{
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA_ADDITIONAL_BLOCKING, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+extern int parse_roi_arg(const char *buff, VL53L1_UserRoi_t *rois, uint32_t *p_n_roi);
+static int stmvl53l1_get_roi_sysfs(VL53L1_UserRoi_t *roi, uint32_t n_roi, uint32_t *used_roi)
+{
+	int rc;
+	char b[SYSFS_MAX_LEN];
+	struct stmvl53l1_roi_full_t ioctl_roi;
+
+	rc = stmvl53l1_sysfs_read_string("roi", b);
+	if (rc < 0)
+		return rc;
+
+	if (strncmp("device default", b, strlen("device default")) == 0) {
+		ioctl_roi.roi_cfg.NumberOfRoi = 0;
+	} else {
+		uint32_t nb_roi;
+
+		rc = parse_roi_arg(b, ioctl_roi.roi_cfg.UserRois, &nb_roi);
+		if (rc >= 0) {
+			ioctl_roi.roi_cfg.NumberOfRoi = nb_roi;
+			rc = 0;
+		}
+	}
+
+	if (!rc) {
+		//avoid core dump and onlyuy update number of roi in case we have to do bug check
+		int to_cpy = n_roi> VL53L1_MAX_USER_ZONES ? VL53L1_MAX_USER_ZONES : n_roi;
+		memcpy( roi, ioctl_roi.roi_cfg.UserRois, to_cpy*sizeof(*roi));
+		*used_roi = ioctl_roi.roi_cfg.NumberOfRoi;
+	}
+
+	return rc;
+}
+
+static int stmvl53l1_get_roi_ioctl( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi, uint32_t *used_roi)
+{
+	struct stmvl53l1_roi_full_t ioctl_roi;
+	int rc;
+	ioctl_roi.is_read = 1;
+	ioctl_roi.roi_cfg.NumberOfRoi = n_roi;
+	rc= ioctl(fd, VL53L1_IOCTL_ROI, &ioctl_roi);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		//avoid core dump and onlyuy update number of roi in case we have to do bug check
+		int to_cpy = n_roi> VL53L1_MAX_USER_ZONES ? VL53L1_MAX_USER_ZONES : n_roi;
+		memcpy( roi, ioctl_roi.roi_cfg.UserRois, to_cpy*sizeof(*roi));
+		*used_roi = ioctl_roi.roi_cfg.NumberOfRoi;
+	}
+	return rc;
+}
+
+int stmvl53l1_get_roi( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi, uint32_t *used_roi)
+{
+	return is_sysfs ? stmvl53l1_get_roi_sysfs(roi, n_roi, used_roi)
+		: stmvl53l1_get_roi_ioctl(fd, roi, n_roi, used_roi);
+}
+
+
+static int stmvl53l1_set_roi_sysfs(VL53L1_UserRoi_t *roi, uint32_t n_roi)
+{
+	int rc;
+
+	if (n_roi > VL53L1_MAX_USER_ZONES) {
+		error("can't set %d roi > %d", (int)n_roi, VL53L1_MAX_USER_ZONES);
+		return -1;
+	}
+
+	if (n_roi) {
+		char b[SYSFS_MAX_LEN];
+		char *c = b;
+		uint32_t i;
+
+		for(i = 0; i < n_roi; i++) {
+			if (i)
+				c += sprintf(c, ", ");
+			c += sprintf(c, "%d %d %d %d",
+				roi[i].TopLeftX,
+				roi[i].TopLeftY,
+				roi[i].BotRightX,
+				roi[i].BotRightY);
+		}
+		sprintf(c, "\n");
+		rc = stmvl53l1_sysfs_write_string("roi", b);
+	} else {
+		rc = stmvl53l1_sysfs_write_string("roi", "");
+	}
+
+	return rc;
+}
+
+static int stmvl53l1_set_roi_ioctl( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi)
+{
+	struct stmvl53l1_roi_full_t ioctl_roi;
+	int rc;
+	//int arg_len;
+	if( n_roi > VL53L1_MAX_USER_ZONES){
+		error("can't set %d roi > %d", (int)n_roi, VL53L1_MAX_USER_ZONES);
+		return -1;
+	}
+	ioctl_roi.is_read = 0;
+	ioctl_roi.roi_cfg.NumberOfRoi = n_roi;
+	if( n_roi ){
+		memcpy( ioctl_roi.roi_cfg.UserRois, roi, sizeof(VL53L1_UserRoi_t)*n_roi);
+	}
+	rc= ioctl(fd, VL53L1_IOCTL_ROI, &ioctl_roi);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_set_roi( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi)
+{
+	return is_sysfs ? stmvl53l1_set_roi_sysfs(roi, n_roi)
+		: stmvl53l1_set_roi_ioctl(fd, roi, n_roi);
+}
+
+int stmvl53l1_perform_calibration(int fd, uint32_t calibration_type, uint32_t param1, uint32_t param2, uint32_t param3)
+{
+	int rc;
+	struct stmvl53l1_ioctl_perform_calibration_t ioctl_cal = {calibration_type, param1, param2, param3};
+
+	rc = ioctl(fd, VL53L1_IOCTL_PERFORM_CALIBRATION, &ioctl_cal);
+	if( rc != 0)
+		ioctl_error("%d %s", rc, strerror(errno));
+
+	return rc;
+}
+
+int stmvl53l1_calibration_data(int fd, struct stmvl53l1_ioctl_calibration_data_t *cal)
+{
+	int rc;
+
+	rc = ioctl(fd, VL53L1_IOCTL_CALIBRATION_DATA, cal);
+	if( rc != 0)
+		ioctl_error("%d %s", rc, strerror(errno));
+
+    return rc;
+}
+
+int stmvl53l1_zone_calibration_data(int fd, struct stmvl53l1_ioctl_zone_calibration_data_t *cal)
+{
+	int rc;
+
+	rc = ioctl(fd, VL53L1_IOCTL_ZONE_CALIBRATION_DATA, cal);
+	if( rc != 0)
+		ioctl_error("%d %s", rc, strerror(errno));
+
+	return rc;
+}
+
+static int stmvl53l1_set_dmax_reflectance_sysfs(float reflectance)
+{
+	return stmvl53l1_sysfs_write_float("dmax_reflectance", reflectance);
+}
+
+static int stmvl53l1_set_dmax_reflectance_ioctl(int fd, float reflectance)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 0;
+	params.name = VL53L1_DMAXREFLECTANCE_PAR;
+	params.value = auto_float_to_16x16(reflectance);
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("ebusy can't set now");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_set_dmax_reflectance(int fd, float reflectance)
+{
+	return is_sysfs ? stmvl53l1_set_dmax_reflectance_sysfs(reflectance)
+		: stmvl53l1_set_dmax_reflectance_ioctl(fd, reflectance);
+}
+
+
+static int stmvl53l1_get_dmax_reflectance_sysfs(float *reflectance)
+{
+	return stmvl53l1_sysfs_read_float("dmax_reflectance", reflectance);
+}
+
+static int stmvl53l1_get_dmax_reflectance_ioctl(int fd, float *reflectance)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = VL53L1_DMAXREFLECTANCE_PAR;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		// sucessfull ioctl check status
+		rc = params.status ;
+		if( rc == 0 ) {
+			*reflectance  = auto_16x16_to_float(params.value);
+		}
+	}
+	return rc;
+}
+
+int stmvl53l1_get_dmax_reflectance(int fd, float *reflectance)
+{
+	return is_sysfs ? stmvl53l1_get_dmax_reflectance_sysfs(reflectance)
+		: stmvl53l1_get_dmax_reflectance_ioctl(fd, reflectance);
+}
+
+static int stmvl53l1_get_optical_center_sysfs(float *x, float *y)
+{
+	return stmvl53l1_sysfs_read_two_float("optical_center", x, y);
+}
+
+static int stmvl53l1_get_optical_center_ioctl(int fd, float *x, float *y)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = VL53L1_OPTICALCENTER_PAR;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		// sucessfull ioctl check status
+		rc = params.status ;
+		if( rc == 0 ){
+			*x  = auto_16x16_to_float(params.value);
+			*y  = auto_16x16_to_float(params.value2);
+		}
+	}
+	return rc;
+}
+
+int stmvl53l1_get_optical_center(int fd, float *x, float *y)
+{
+	return is_sysfs ? stmvl53l1_get_optical_center_sysfs(x, y)
+		: stmvl53l1_get_optical_center_ioctl(fd, x, y);
+}
+
+static char *auto_detectionmode_2_str(VL53L1_DetectionMode DetectionMode)
+{
+	switch(DetectionMode) {
+		case VL53L1_DETECTION_NORMAL_RUN:
+			return "normal";
+		case VL53L1_DETECTION_DISTANCE_ONLY:
+			return "distance only";
+		case VL53L1_DETECTION_RATE_ONLY:
+			return "rate only";
+		case VL53L1_DETECTION_DISTANCE_AND_RATE:
+			return "distance and rate";
+		case VL53L1_DETECTION_DISTANCE_OR_RATE:
+			return "distance or rate";
+	}
+
+	return "unknown";
+}
+
+static char *auto_crossmode_2_str(VL53L1_ThresholdMode CrossMode)
+{
+	switch(CrossMode) {
+		case VL53L1_THRESHOLD_CROSSED_LOW:
+			return "low";
+		case VL53L1_THRESHOLD_CROSSED_HIGH:
+			return "high";
+		case VL53L1_THRESHOLD_OUT_OF_WINDOW:
+			return "out of window";
+		case VL53L1_THRESHOLD_IN_WINDOW:
+			return "in window";
+	}
+
+	return "unknown";
+}
+
+static void display_auto_config_raw(struct stmvl53l1_autonomous_config_t *full)
+{
+	printf("%d %d %d ", full->pollingTimeInMs, full->config.DetectionMode, full->config.IntrNoTarget);
+	printf("%d %d %d ", full->config.Distance.CrossMode, full->config.Distance.High, full->config.Distance.Low);
+	printf("%d %f %f ", full->config.Rate.CrossMode, auto_16x16_to_float(full->config.Rate.High), auto_16x16_to_float(full->config.Rate.Low));
+	printf("\n");
+}
+
+static void display_auto_config_cook(struct stmvl53l1_autonomous_config_t *full)
+{
+	printf("- pollingTimeInMs = %d ms\n", full->pollingTimeInMs);
+	printf("- config\n");
+	printf(" - DetectionMode = %s\n", auto_detectionmode_2_str(full->config.DetectionMode));
+	printf(" - IntrNoTarget = %d\n", full->config.IntrNoTarget);
+	printf(" - Distance\n");
+	printf("  - CrossMode = %s\n", auto_crossmode_2_str(full->config.Distance.CrossMode));
+	printf("  - High = %5d mm\n", full->config.Distance.High);
+	printf("  - Low  = %5d mm\n", full->config.Distance.Low);
+	printf(" - Rate\n");
+	printf("  - CrossMode = %s\n", auto_crossmode_2_str(full->config.Rate.CrossMode));
+	printf("  - High = %f\n", auto_16x16_to_float(full->config.Rate.High));
+	printf("  - Low  = %f\n", auto_16x16_to_float(full->config.Rate.Low));
+}
+
+static int parse_auto_config(char *buffer, struct stmvl53l1_autonomous_config_t *full)
+{
+	int n;
+	float high, low;
+	int DetectionMode;
+	int IntrNoTarget;
+	int DistanceCrossMode;
+	int DistanceHigh;
+	int DistanceLow;
+	int RateCrossMode;
+
+	n = sscanf(buffer, "%d %d %d %d %d %d %d %f %f",
+		&full->pollingTimeInMs,
+		&DetectionMode,
+		&IntrNoTarget,
+		&DistanceCrossMode,
+		&DistanceHigh,
+		&DistanceLow,
+		&RateCrossMode,
+		&high,
+		&low);
+	full->config.Rate.High = auto_float_to_16x16(high);
+	full->config.Rate.Low  = auto_float_to_16x16(low);
+	full->config.DetectionMode = DetectionMode;
+	full->config.IntrNoTarget = IntrNoTarget;
+	full->config.Distance.CrossMode = DistanceCrossMode;
+	full->config.Distance.High = DistanceHigh;
+	full->config.Distance.Low = DistanceLow;
+	full->config.Rate.CrossMode = RateCrossMode;
+
+	if (n != 9)
+		return -1;
+
+	return 0;
+}
+
+static int stmvl53l1_set_auto_config_sysfs(char *buffer)
+{
+	return stmvl53l1_sysfs_write_string("autonomous_config", buffer);
+}
+
+static int stmvl53l1_set_auto_config_ioctl(int fd, char *buffer)
+{
+	int rc;
+	struct stmvl53l1_autonomous_config_t full;
+
+	rc = parse_auto_config(buffer, &full);
+	if (rc) {
+		error("unable to parse\n");
+		return rc;
+	}
+
+	full.is_read = 0;
+	rc = ioctl(fd, VL53L1_IOCTL_AUTONOMOUS_CONFIG, &full);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+
+	return rc;
+}
+
+int stmvl53l1_set_auto_config(int fd, char *buffer)
+{
+	return is_sysfs ? stmvl53l1_set_auto_config_sysfs(buffer)
+		: stmvl53l1_set_auto_config_ioctl(fd, buffer);
+}
+
+static int stmvl53l1_get_auto_config_sysfs(void)
+{
+	int rc;
+	char b[SYSFS_MAX_LEN];
+	struct stmvl53l1_autonomous_config_t full;
+	float high, low;
+	int DetectionMode;
+	int IntrNoTarget;
+	int DistanceCrossMode;
+	int DistanceHigh;
+	int DistanceLow;
+	int RateCrossMode;
+
+	rc = stmvl53l1_sysfs_read_string("autonomous_config", b);
+	if (rc < 0)
+		return rc;
+
+	rc = sscanf(b, "%d %d %d %d %d %d %d %f %f",
+		&full.pollingTimeInMs,
+		&DetectionMode,
+		&IntrNoTarget,
+		&DistanceCrossMode,
+		&DistanceHigh,
+		&DistanceLow,
+		&RateCrossMode,
+		&high,
+		&low);
+	if (rc != 9)
+		return -1;
+
+	full.config.Rate.High = auto_float_to_16x16(high);
+	full.config.Rate.Low = auto_float_to_16x16(low);
+	full.config.DetectionMode = DetectionMode;
+	full.config.IntrNoTarget = IntrNoTarget;
+	full.config.Distance.CrossMode = DistanceCrossMode;
+	full.config.Distance.High = DistanceHigh;
+	full.config.Distance.Low = DistanceLow;
+	full.config.Rate.CrossMode = RateCrossMode;
+	display_auto_config_raw(&full);
+	display_auto_config_cook(&full);
+
+	return 0;
+}
+
+static int stmvl53l1_get_auto_config_ioctl(int fd)
+{
+	int rc;
+	struct stmvl53l1_autonomous_config_t full;
+
+	full.is_read = 1;
+	rc = ioctl(fd, VL53L1_IOCTL_AUTONOMOUS_CONFIG, &full);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		/* display config */
+		display_auto_config_raw(&full);
+		display_auto_config_cook(&full);
+	}
+
+	return rc;
+}
+
+int stmvl53l1_get_auto_config(int fd)
+{
+	return is_sysfs ? stmvl53l1_get_auto_config_sysfs()
+		: stmvl53l1_get_auto_config_ioctl(fd);
+}
+
+int test_check=0;
+int test_n_err=0;
+#define tfail( cond, msg, ...)\
+	do{\
+		test_check++;\
+		if( cond ) {\
+			printf("ERR %s line %d\t" msg "\n", __func__, __LINE__, ##__VA_ARGS__);\
+			test_n_err++;\
+		}\
+	}while(0)
+
+#define t_status(msg, ...)\
+	do{\
+		printf("STAT %s\t %d err out of %d " msg "\n", __func__, test_n_err, test_check, ##__VA_ARGS__ );\
+	}while(0)
+
+
+
+static void help(int do_exit)
+{
+	fprintf(stderr,	"Usage: phio <option1> <option2> ....\n"
+			"\t[-d --dev dev_no]\t dev_no shall be set at first arg\n"
+			"\t[-m --mode[=set_mode ]] set/get ranging mode\n"
+				"\t\t mode value  1 = standard, 2 =  multi zone , 3 = autonomous, 4 = lite ranging\n"
+			"\t[-M --Meas[=no_of_meas]] get [no_of_meas] sample measurement\n"
+			"\t[-o --roi_get no_of_roi  get up to no_of_roi\n"
+			"\t[-O --roi_set[\"x0 y0 x1 y1[,[x y x y]up to 15x]]\" set rois \n\tno arg will unset roi\n"
+				"\t\tbe aware of the xy system\n"
+			"\t[-p[=time ms] get device poll delay [-p=xxxx] set poll delay to xxx ms\n"
+				"\t\t use -P for internal ioctl polling delay\n"
+			"\t[-P --Pause time_ms]\t set test loop/poll pause time_ms in milli sec\n"
+			"\t[-r[=no_of_call] --range [no_of_call]] get range data (raw) repeat no_of_call time (override TBD)\n"
+			"\t-s --start start ranging\n"
+			"\t-S --stop  stop ranging\n"
+			"\t-t [=time_us] get timing budget [=set it]\n"
+			"\t-z [=no_of_call] get multi zone data\n"
+			"\t-Z no_of_range  poll multi zone ranging \n"
+			"\t-R --Ref_spad perform reference spad calibration \n"
+			"\t-X --Xtalk <method> perform crosstalk calibration using method \n"
+			"\t-F --oFfset <\"mode distance reflectance\"> perform offset calibration of type mode with target at given distance in mm and with given reflectance in percent\n"
+			"\t-c --cal <file> get calibration data and write them in given file name\n"
+			"\t-C --Cal <file> set calibrating data by reading given file name\n"
+			"\t-D --Distance[=distance_mode] set/get distance mode\n"
+				"\t\t distance value 1 = short, 2 = medium, 3 = long\n"
+			"\t-E --xtalk_Enable[=<0/1>] set/get crosstalk compensation enable\n"
+			"\t-U --oUtput[=output_mode] set/get output mode\n"
+				"\t\t output mode value 1 = nearest, 2 = strongest\n"
+			"\t-f --force[=<0/1>] set/get force device on enable\n"
+			"\t-a --auto=[\"poll_ms mode no_target_irq distance_mode distance_low distance_high rate_mode rate_low rate_high\"] set/get autonomous configuration\n"
+			"\t-y --sysfs_on turn on sysfs usage instead of ioctl\n"
+			"\t-Y --sysfs_off turn off sysfs usage instead of ioctl\n"
+			"\t-T  --offseT_correction_mode[=offset_correction_mode] set/get offset correction mode\n"
+				"\t\t offset correction mode value 1 = standard, 2 = per zone\n"
+			"\t-I  --optical_center get optical center offset in roi coordinate\n"
+			"\t-A  --dmax_reflectance[=reflectance] set/get reflectance used for dmax calculation in percent\n"
+			"\t-B  --dmax_mode[=dmax_mode] set/get dmax mode\n"
+			"\t-w --wcal <file> get zone calibration data and write them in given file name\n"
+			"\t-W --Wcal <file> set zone calibrating data by reading given file name\n"
+			"\t-N --tuNing=\"<key> <value>\" set low level layer parameter with key to given value\n"
+			"\t-g --tunings <file> get tunings values and write them in given file name\n"
+			"\t-G --tuninGs <file> set tunings values by reading given file name\n"
+			"\t-h --smudge[=smudge_mode] set/get smudge correction mode\n"
+			"\t\t smudge_mode value  0 = disable, 1 =  continuous , 2 = single, 3 = debug\n"
+			"\t-l --transform calibration data from bin to text\n"
+			"\t-L --transform calibration data from text to bin\n"
+			/* These two options are not documented since it should not be used
+			"\t-j [=no_of_call] get multi zone data with additional data\n"
+			"\t-J no_of_range  poll multi zone ranging  with additional data\n"
+			*/
+			);
+
+	fprintf(stderr, "\nExamples:\n"
+					" - get current timing budget value\n"
+					"\t ./phio -t\n"
+					" - take 10 measures in ranging mode\n"
+					"\t ./phio -O -m=1 -s -Z=10 -S\n"
+					" - take 10 measures in multi zone mode with 4 zones\n"
+					"\t ./phio -O=\"0 15 7 8, 8 15 15 8, 0 7 7 0, 8 7 15 0\" -m=2 -s -Z=10 -S\n"
+					" - take 10 measures in lite ranging at 10 Hz and restore 60hz\n"
+					"\t ./phio -t=100000 -O -m=4 -s -M=10 -S -t=16000\n");
+
+
+	if( do_exit){
+		exit(do_exit);
+	}
+}
+
+
+int dev_no=0;
+char dev_fi_name[256];
+int dev_fd=-1;
+int run_loops=1; // run cmd only this numebr of time defautl to run once
+int run_poll_ms=0;
+
+stmvl531_range_data_t dev_1xrange_data; /* last read */
+VL53L1_MultiRangingData_t dev_mz_range_data;
+struct stmvl53l1_data_with_additional dev_mz_range_data_additional;
+
+//struct stmvl53l1_roi_full_t dev_rois;
+VL53L1_UserRoi_t dev_rois[VL53L1_MAX_USER_ZONES];
+/**
+ * cmd line option
+ * @warning keep in synch with @a string_options
+ */
+static struct option long_options[] =
+{
+	{"calbin2txt",       required_argument, 0,  'l'},
+	{"caltxt2bin",       required_argument, 0,  'L'},
+	{"dev",       required_argument, 0,  'd'},
+	{"help",      no_argument,	 0 , '?'},
+	{"mode",      optional_argument, 0 , 'm'},
+	{"Meas",      optional_argument, 0 , 'M'},
+	{"roi_get",   required_argument, 0 , 'o'},
+	{"rOi_set",   optional_argument, 0 , 'O'},
+	{"Poll",      required_argument, 0 , 'P'}, // program poll
+	{"range",     optional_argument, 0 , 'r'},
+	{"start",     no_argument,	 0 , 's'},
+	{"stop",      no_argument,	 0 , 'S'},
+	{"zone",      optional_argument, 0 , 'z'},
+	{"Zone",      required_argument, 0 , 'Z'},
+	{"Ref_spad",  no_argument,       0 , 'R'},
+	{"Xtalk",     required_argument, 0 , 'X'},
+	{"oFfset",    required_argument, 0 , 'F'},
+	{"cal",       required_argument, 0 , 'c'},
+	{"Cal",       required_argument, 0 , 'C'},
+	{"Distance",  optional_argument, 0 , 'D'},
+	{"xtalk_Enable", optional_argument, 0, 'E'},
+	{"oUtput",    optional_argument, 0 , 'U'},
+	{"force",     optional_argument, 0, 'f'},
+	{"auto",      optional_argument, 0, 'a'},
+	{"sysfs_on",  no_argument,	 0 , 'y'},
+	{"sysfs_off",  no_argument,	 0 , 'Y'},
+	{"offseT_correction_mode",  optional_argument,	 0 , 'T'},
+	{"optIcal_center",	no_argument,	0, 'I'},
+	{"dmax_reflectance",	optional_argument, 	0, 'A'},
+	{"dmax_mode",	optional_argument, 	0, 'B'},
+	{"wcal",      required_argument, 0 , 'w'},
+	{"Wcal",      required_argument, 0 , 'W'},
+	{"tuNing",    required_argument, 0 , 'N'},
+	{"tunings",   required_argument, 0 , 'g'},
+	{"tuninGs",   required_argument, 0 , 'G'},
+	{"smudge",    required_argument, 0 , 'h'},
+	{"zone_additional", optional_argument, 0 , 'j'},
+	{"Zone_additional", required_argument, 0 , 'J'},
+	{"run_test_config", required_argument, 0 , 'H'},
+	/* must be last since then long options are no more detected */
+	{NULL,        optional_argument, 0 , 't'}, //timing budget
+	{NULL,        optional_argument, 0 , 'p'}, // device poll delay
+	//last
+	{0, 0, 0, 0}
+};
+/**
+ * cmd line option string keep in sync with @a long_options
+ * sythax is
+ * 	'x' => no arg option for   case 0:
+ *	"x:" => required arg for shorft opt char  x
+ * *	"x::" => optional arg for short opt char  x
+ */
+char string_options[]="L:l:d:?m::M::o:O::p::P:r::sSt::z::Z:RX:F:c:C:D::E::U::f::a::yYT::IA::B::w:W:N:g:G:h::j::J:H:";
+
+void set_dev_name(void){
+	if( dev_no == 0 ){
+		strcpy(dev_fi_name, "/dev/" VL53L1_MISC_DEV_NAME);
+	}else{
+		snprintf(dev_fi_name, sizeof(dev_fi_name), "%s%d","/dev/" VL53L1_MISC_DEV_NAME, dev_no);
+	}
+}
+
+void set_new_device(int no) {
+	if( dev_fd>0 ){
+		verbose("closing %s", dev_fi_name);
+		close(dev_fd);
+		dev_fd=-1;
+	}
+	//will be reopen when needed
+	dev_no=no;
+	set_dev_name();
+	verbose("to use dev %d %s", dev_no, dev_fi_name);
+}
+
+
+
+/**
+ * open the currently set device dev no / dev_name if needed
+ *  it exit if that fail
+ *
+ * does nothing if dev already open (will nto check if dev no did chaneg etc .)
+ * @note to changed use @a set_new_device that will take care of closing existing one and set dev name
+ */
+void open_dev_or_die(){
+	// open if not yet open
+	if( dev_fd<0 ){
+		set_dev_name();//ensure device name  match current dev no
+		dev_fd = open(dev_fi_name ,O_RDWR );
+		verbose("open fd %d for %s", dev_fd, dev_fi_name);
+		if (dev_fd < 0) {
+			error("open of %s", dev_fi_name);
+			exit(1);
+		}
+	}else{
+		verbose("keep using fd %d", dev_fd);
+	}
+
+}
+
+
+
+void print_1xdata(FILE * fi, stmvl531_range_data_t *range_data){
+	fprintf(fi, "cnt %4d st %d\t"
+		"d=%4dmm\t"
+		"min/max=%4d/%4d\t"
+		"dmax=%d\t"
+		"qual=%3d\t"
+		"spdcnt=%d\t"
+		"sigma=%3d.%02d\t"
+		"rate=%5d.%02d/%5d.%02d"
+		"\n",
+		(int)range_data->StreamCount, (int)range_data->RangeStatus,
+		(int)range_data->RangeMilliMeter, 0, 0, 0,
+//		(int)range_data->RangeMinMilliMeter,
+//		(int)range_data->RangeMaxMilliMeter,
+//		(int)range_data->DmaxMilliMeter,
+		(int)range_data->RangeQualityLevel,
+		(int)range_data->EffectiveSpadRtnCount / 256,
+		(int)range_data->SigmaMilliMeter >> 16,
+		(int)((range_data->SigmaMilliMeter & 0xffff) * 100) >> 16,
+		(int)range_data->SignalRateRtnMegaCps >> 16,
+		(int)((range_data->SignalRateRtnMegaCps & 0xffff) * 100) >> 16,
+		(int)range_data->AmbientRateRtnMegaCps >> 16,
+		(int)((range_data->AmbientRateRtnMegaCps & 0xffff) * 100) >> 16
+		);
+}
+
+void print_target1xdata(FILE * fi, VL53L1_TargetRangeData_t *range_data){
+	if (range_data->RangeStatus == VL53L1_RANGESTATUS_NONE)
+		fprintf(fi, "*NOTARGET* ");
+	fprintf(fi, "st %4d\t"
+		"d=%4dmm\t"
+		"min/max=%4d/%4d\t"
+		"qual=%3d\t"
+		"sigma=%3d.%02d\t"
+		"rate=%5d.%02d/%5d.%02d"
+		"\n",
+		(int)range_data->RangeStatus,
+		(int)range_data->RangeMilliMeter,
+		(int)range_data->RangeMinMilliMeter,
+		(int)range_data->RangeMaxMilliMeter,
+		(int)range_data->RangeQualityLevel,
+		(int)range_data->SigmaMilliMeter >> 16,
+		(int)((range_data->SigmaMilliMeter & 0xffff) * 100) >> 16,
+		(int)range_data->SignalRateRtnMegaCps >> 16,
+		(int)((range_data->SignalRateRtnMegaCps & 0xffff) * 100) >> 16,
+		(int)range_data->AmbientRateRtnMegaCps >> 16,
+		(int)((range_data->AmbientRateRtnMegaCps & 0xffff) * 100) >> 16
+		);
+}
+
+static char *roiStatus2string(VL53L1_RoiStatus st)
+{
+	char *msgs[] = {"is invalid roi", "is not last roi", "is last roi"};
+
+	return msgs[st];
+}
+
+void print_mz_data(FILE *fi, VL53L1_MultiRangingData_t *data ){
+//	VL53L1_TargetRangeData_t *prange;
+	int max_obj, obj;
+//	prange = &data->RangeData[0];
+	fprintf(fi, "range ts %8u\t"
+			"\troi %2d %s (%d)%s"
+			" StreamCount(%d), SpadCount(%.2f), Dmax=(%d)"
+			"\n",
+			(int)data->TimeStamp,
+			data->RoiNumber, roiStatus2string(data->RoiStatus), data->RoiStatus,
+			data->HasXtalkValueChanged ? " XTALK UPDATE" : "",
+			data->StreamCount,
+			data->EffectiveSpadRtnCount/256.0,
+			data->DmaxMilliMeter);
+
+	max_obj = MIN(VL53L1_MAX_RANGE_RESULTS, data->NumberOfObjectsFound);
+	// allow to report ambient rate even when no target detected
+	max_obj = MAX(max_obj, 1);
+	for(obj=0; obj < max_obj; obj++) {
+		fprintf(fi, " - [%d]\t", obj);
+		print_target1xdata(fi, &data->RangeData[obj]);
+	}
+}
+
+void print_mz_data_additional(FILE *fi, VL53L1_AdditionalData_t *data)
+{
+	int i;
+
+	fprintf(fi, " - DBG: ");
+	for (i = 0; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH; ++i)
+		fprintf(fi, "[%3d %5d]%c", data->VL53L1_p_010.bin_seq[i], data->VL53L1_p_010.bin_data[i], i + 1 == VL53L1_MAX_BIN_SEQUENCE_LENGTH ? '\n' : ' ');
+}
+
+void dev_print_mz_data(){
+	print_mz_data(stdout, &dev_mz_range_data);
+}
+
+void dev_print_mz_data_additional(){
+	print_mz_data(stdout, &dev_mz_range_data_additional.data);
+	print_mz_data_additional(stdout, &dev_mz_range_data_additional.additional_data);
+}
+
+void dev_print_1xdata(){
+
+	print_1xdata(stdout, &dev_1xrange_data);
+}
+
+int run_meas_loop(int n_loops)
+{
+	int rc = 0;
+	int i;
+	uint32_t prev_ts = -1;
+
+	if (is_sysfs) {
+		rc = open_input_subsystem();
+		if (rc < 0)
+			return rc;
+	}
+	for(i=0; i< n_loops; i++) {
+		rc = stmvl53l1_get_data_blocking(dev_fd, &dev_1xrange_data);
+		if (rc != 0) {
+			error("loop #%d fail to get data code=%d",i, rc);
+			break;
+		}
+		printf("#%c%5d dts=%8d\t", is_sysfs ? 'S' : 'I' ,i, i==0 ? 0 : dev_1xrange_data.TimeStamp - prev_ts);
+		dev_print_1xdata();
+		prev_ts = dev_1xrange_data.TimeStamp;
+	}
+	if (is_sysfs)
+		close_input_subsystem();
+
+	return rc;
+}
+
+#define roi_fprintf fprintf
+
+void dump_roi(FILE * fi, VL53L1_UserRoi_t *rois, uint32_t n ){
+	uint32_t i;
+	for( i = 0; i< n ; i++){
+		roi_fprintf(fi, "ROI#%02d %2d %2d %2d %2d\n", (int)i,
+				(int)rois[i].TopLeftX, (int)rois[i].TopLeftY,
+				(int)rois[i].BotRightX, (int)rois[i].BotRightY);
+	}
+}
+
+/**
+ * parse rois string
+ *
+ *  roi string in format "tlx tly br bry [,tlx tly br bry]*up_to_15x"
+ *
+ *  @warning parser is very simple rely on exact syntax it will not track extra token after valeu and ,
+ *
+ * @param buff string to parse empy string is valdi no roi
+ * @param rois data (VL53L1_MAX_USER_ZONES length)  it may be partially set on error
+ * @param p_n_roi [out] not set in error
+ * @return >=0  valid parsing and nof of \n
+ * <0 parse error p_n_roi indicates last valid parsed adn stored roi
+ */
+int parse_roi_arg(const char *buff, VL53L1_UserRoi_t *rois, uint32_t *p_n_roi){
+	int n_roi=0;
+	int n;
+	const char *pc=buff;
+	int tlx, tly, brx, bry;
+	while(	n_roi < VL53L1_MAX_USER_ZONES && pc!=NULL && *pc != 0)
+	{
+		n= sscanf(pc, "%d %d %d %d", &tlx, &tly, &brx, &bry);
+		if( n == 4 ){
+			rois[n_roi].TopLeftX = tlx;
+			rois[n_roi].TopLeftY = tly;
+			rois[n_roi].BotRightX = brx;
+			rois[n_roi].BotRightY = bry;
+			n_roi++;
+		}
+		else{
+			error("wrong roi syntax around %s of %s", pc, buff);
+			*p_n_roi= n_roi;
+			return -1;
+		}
+		// find next roi
+		pc = strchr(pc, ',');
+		if( pc ){
+			pc++;
+		}
+	}
+	*p_n_roi= n_roi;
+	return n_roi;
+}
+
+int run_zone_loop(int n_loops)
+{
+	int i;
+	int rc = 0;
+	uint32_t cur_ts;
+	uint32_t prev_ts = -1;
+
+	if (is_sysfs) {
+		rc = open_input_subsystem();
+		if (rc < 0)
+			return rc;
+	}
+	for(i=0; i< n_loops; i++) {
+		rc = stmvl53l1_get_mz_data_blocking(dev_fd, &dev_mz_range_data);
+		if(rc != 0) {
+			error("loop #%d fail to get data code=%d", i, rc);
+			break;
+		}
+		cur_ts = dev_mz_range_data.TimeStamp;
+		printf("#%c%5d dts=%8d\t", is_sysfs ? 'S' : 'I',i, i==0 ? 0 : cur_ts - prev_ts);
+		dev_print_mz_data();
+		prev_ts = cur_ts;
+	}
+	if (is_sysfs)
+		close_input_subsystem();
+
+	return rc;
+}
+
+int run_zone_loop_additional(int n_loops)
+{
+	int i;
+	int rc = 0;
+	uint32_t cur_ts;
+	uint32_t prev_ts = -1;
+
+	for(i=0; i< n_loops; i++) {
+		rc = stmvl53l1_get_mz_data_blocking_additional(dev_fd, &dev_mz_range_data_additional);
+		if(rc != 0) {
+			error("loop #%d fail to get data code=%d", i, rc);
+			break;
+		}
+		cur_ts = 0;
+		printf("#I%5d dts=%8d\t",i, i==0 ? 0 : cur_ts - prev_ts);
+		dev_print_mz_data_additional();
+		prev_ts = cur_ts;
+	}
+
+	return rc;
+}
+
+int perform_ref_spad_calibration()
+{
+	return stmvl53l1_perform_calibration(dev_fd, VL53L1_CALIBRATION_REF_SPAD, 0, 0, 0);
+}
+
+int perform_crosstalk_calibration(int method, int mode)
+{
+	return stmvl53l1_perform_calibration(dev_fd, VL53L1_CALIBRATION_CROSSTALK, method, mode, 0);
+}
+
+int perform_offset_calibration(int mode, int distance, float reflectance)
+{
+	uint32_t calibration_type;
+	uint32_t param1;
+	uint32_t param2;
+	uint32_t param3 = auto_float_to_16x16(reflectance);
+
+	/* then mode is the first parameter:
+	 * mode = 1 ==> VL53L1_CALIBRATION_OFFSET
+	 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_STANDARD
+	 * mode = 2 ==> VL53L1_CALIBRATION_OFFSET
+	 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY
+	 * mode = 3 ==> VL53L1_CALIBRATION_OFFSET_PER_ZONE
+	 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE
+	 * mode = 4 ==> VL53L1_CALIBRATION_OFFSET_SIMPLE
+	 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+	 * */
+
+	switch (mode) {
+	case 1:
+		calibration_type = VL53L1_CALIBRATION_OFFSET;
+		param1 = VL53L1_OFFSETCALIBRATIONMODE_STANDARD;
+		param2 = distance;
+	break;
+	case 2:
+		calibration_type = VL53L1_CALIBRATION_OFFSET;
+		param1 = VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY;
+		param2 = distance;
+	break;
+	case 3:
+		calibration_type = VL53L1_CALIBRATION_OFFSET_PER_ZONE;
+		param1 = VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE;
+		param2 = distance;
+	break;
+	default: /* 4 */
+		calibration_type = VL53L1_CALIBRATION_OFFSET_SIMPLE;
+		param1 = distance;
+		param2 = 0;
+	}
+
+	return stmvl53l1_perform_calibration(dev_fd, calibration_type,
+			param1, param2, param3);
+}
+
+static int get_calibration_data_sysfs(char *name)
+{
+	VL53L1_CalibrationData_t data;
+	int rc;
+
+	rc = stmvl53l1_sysfs_read_binary_data("calibration_data", &data, sizeof(data));
+	if (rc == 0)
+		rc = write_file(name, (void *) &data, sizeof(data));
+
+	return rc;
+}
+
+static int get_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 1;
+	rc = stmvl53l1_calibration_data(dev_fd, &cal);
+	if (rc == 0)
+		rc = write_file(name, (void *) &cal.data, sizeof(cal.data));
+
+	return rc;
+}
+
+int get_calibration_data(char *name)
+{
+	return is_sysfs ? get_calibration_data_sysfs(name) :
+		get_calibration_data_ioctl(name);
+}
+
+static int set_calibration_data_sysfs(char *name)
+{
+	VL53L1_CalibrationData_t data;
+	int rc;
+
+	rc = read_file(name, (void *) &data, sizeof(data));
+	if (rc == 0)
+		rc = stmvl53l1_sysfs_write_binary_data("calibration_data", &data, sizeof(data));
+
+	return rc;
+}
+
+static int set_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 0;
+	rc = read_file(name, (void *) &cal.data, sizeof(cal.data));
+	if (rc == 0)
+		rc = stmvl53l1_calibration_data(dev_fd, &cal);
+
+	return rc;
+}
+
+int set_calibration_data(char *name)
+{
+	return is_sysfs ? set_calibration_data_sysfs(name) :
+		set_calibration_data_ioctl(name);
+}
+
+static int get_zone_calibration_data_sysfs(char *name)
+{
+	stmvl531_zone_calibration_data_t data;
+	int rc;
+
+	rc = stmvl53l1_sysfs_read_binary_data("zone_calibration_data", &data, sizeof(data));
+	if (rc == 0)
+		rc = write_file(name, (void *) &data, sizeof(data));
+
+	return rc;
+}
+
+static int get_zone_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_zone_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 1;
+	rc = stmvl53l1_zone_calibration_data(dev_fd, &cal);
+	if (rc == 0)
+		rc = write_file(name, (void *) &cal.data, sizeof(cal.data));
+
+	return rc;
+}
+
+int get_zone_calibration_data(char *name)
+{
+	return is_sysfs ? get_zone_calibration_data_sysfs(name) :
+		get_zone_calibration_data_ioctl(name);
+}
+
+static int set_zone_calibration_data_sysfs(char *name)
+{
+	stmvl531_zone_calibration_data_t data;
+	int rc;
+
+	rc = read_file(name, (void *) &data, sizeof(data));
+	if (rc == 0)
+		rc = stmvl53l1_sysfs_write_binary_data("zone_calibration_data", &data, sizeof(data));
+
+	return rc;
+}
+
+static int set_zone_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_zone_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 0;
+	rc = read_file(name, (void *) &cal.data, sizeof(cal.data));
+	if (rc == 0)
+		rc = stmvl53l1_zone_calibration_data(dev_fd, &cal);
+
+	return rc;
+}
+
+int set_zone_calibration_data(char *name)
+{
+	return is_sysfs ? set_zone_calibration_data_sysfs(name) :
+		set_zone_calibration_data_ioctl(name);
+}
+
+static int perform_tuning_sysfs(int key, int value)
+{
+	return stmvl53l1_sysfs_write_two_integer("tuning", key, value);
+}
+
+static int perform_tuning_ioctl(int fd, int key, int value)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 0;
+	params.name = VL53L1_TUNING_PAR;
+	params.value = key;
+	params.value2 = value;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("ebusy can't set now");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int perform_tuning(int fd, int key, int value)
+{
+	return is_sysfs ? perform_tuning_sysfs(key, value) :
+		perform_tuning_ioctl(fd, key, value);
+}
+
+int get_tuning(char *name)
+{
+	char buf[SYSFS_MAX_LEN];
+	int rc;
+
+	rc = stmvl53l1_sysfs_read_string("tuning_status", buf);
+	if (rc == 0)
+		rc = write_file(name, buf, strlen(buf));
+
+	return rc;
+}
+
+int set_tuning(char *name)
+{
+	FILE *f;
+	char line[256];
+	int key;
+	int value;
+	int n;
+
+	f = fopen(name, "r");
+	if (!f)
+		return errno;
+
+	while(fgets(line, sizeof(line), f)) {
+		n = sscanf(line, "%d %d", &key, &value);
+		if (n != 2) {
+			break;
+		}
+		perform_tuning(dev_fd, key, value);
+		/* don't test perform_tuning and go on because some keys (key==32902) are no more tunable in the bare driver */
+	}
+	fclose(f);
+
+	return 0;
+}
+
+/* handler parameter boilerplate */
+#define HANDLE_PARAMETER_INTEGER(sysfs_name, info_name) \
+do { \
+open_dev_or_die(); \
+if (optarg!=NULL) { \
+	if (*optarg== '=') \
+		optarg++; \
+	n = sscanf(optarg,"%d", &u32); \
+	if (n!=1) { \
+		error("invalid " info_name " %s", optarg); \
+		help(-1); \
+	} \
+	rc = stmvl53l1_set_##sysfs_name(dev_fd, u32); \
+	if (rc == 0) \
+		info("set " info_name " %d", u32); \
+} else { \
+	rc = stmvl53l1_get_##sysfs_name(dev_fd, &u32); \
+	if (rc == 0) \
+		info("get " info_name " %d", u32); \
+} \
+} while(0)
+
+
+static int stmvl53l1_prestart_checks()
+{
+	int rc = 0;
+	uint32_t mode, timing_budget, tmin;
+
+	rc = stmvl53l1_get_mode(dev_fd, &mode);
+	if (rc != 0) {
+		printf("stmvl53l1_get_mode() failed %d\n", rc);
+		return rc;
+	}
+
+	rc = stmvl53l1_get_timing_budget(dev_fd, &timing_budget);
+	if (rc != 0) {
+		printf("stmvl53l1_get_timing_budget() failed %d\n", rc);
+		return rc;
+	}
+
+	switch (mode) {
+		case 3 :tmin = MIN_AUTONOMOUS_TIMING_BUDGET;
+			break;
+		case 4 :tmin = MIN_LITE_TIMING_BUDGET;
+			break;
+		case 8 : tmin = MIN_AUTOLOWPOWER_TIMING_BUDGET;
+			break;
+		default: tmin = MIN_DEFAULT_TIMING_BUDGET;
+	}
+
+	if (timing_budget < tmin) {
+		printf("WARNING ! Minimum timing budget for "
+				"mode %d shall be %d ms\n", mode, tmin);
+	}
+
+	return rc;
+}
+
+
+void SD_DumpCalData(VL53L1_CalibrationData_t *pCalData, FILE *f) {
+    fprintf(f,"VL53L1_calibration_data_t {\n");
+    fprintf(f,"struct_version = 0x%x\n", pCalData->struct_version);
+    fprintf(f,"customer.global_config__spad_enables_ref_0 = %d\n", pCalData->customer.global_config__spad_enables_ref_0);
+    fprintf(f,"customer.global_config__spad_enables_ref_1 = %d\n", pCalData->customer.global_config__spad_enables_ref_1);
+    fprintf(f,"customer.global_config__spad_enables_ref_2 = %d\n", pCalData->customer.global_config__spad_enables_ref_2);
+    fprintf(f,"customer.global_config__spad_enables_ref_3 = %d\n", pCalData->customer.global_config__spad_enables_ref_3);
+    fprintf(f,"customer.global_config__spad_enables_ref_4 = %d\n", pCalData->customer.global_config__spad_enables_ref_4);
+    fprintf(f,"customer.global_config__spad_enables_ref_5 = %d\n", pCalData->customer.global_config__spad_enables_ref_5);
+    fprintf(f,"customer.global_config__ref_en_start_select = %d\n", pCalData->customer.global_config__ref_en_start_select);
+    fprintf(f,"customer.ref_spad_man__num_requested_ref_spads = %d\n", pCalData->customer.ref_spad_man__num_requested_ref_spads);
+    fprintf(f,"customer.ref_spad_man__ref_location = %d\n", pCalData->customer.ref_spad_man__ref_location );
+    fprintf(f,"customer.algo__crosstalk_compensation_plane_offset_kcps = %d\n", pCalData->customer.algo__crosstalk_compensation_plane_offset_kcps );
+    fprintf(f,"customer.algo__crosstalk_compensation_x_plane_gradient_kcps = %d\n", pCalData->customer.algo__crosstalk_compensation_x_plane_gradient_kcps );
+    fprintf(f,"customer.algo__crosstalk_compensation_y_plane_gradient_kcps = %d\n", pCalData->customer.algo__crosstalk_compensation_y_plane_gradient_kcps );
+    fprintf(f,"customer.ref_spad_char__total_rate_target_mcps  = %d\n", pCalData->customer.ref_spad_char__total_rate_target_mcps  );
+    fprintf(f,"customer.algo__part_to_part_range_offset_mm = %d\n", pCalData->customer.algo__part_to_part_range_offset_mm );
+    fprintf(f,"customer.mm_config__inner_offset_mm = %d\n", pCalData->customer.mm_config__inner_offset_mm );
+    fprintf(f,"customer.mm_config__outer_offset_mm = %d\n", pCalData->customer.mm_config__outer_offset_mm );
+    fprintf(f,"fmt_dmax_cal.ref__actual_effective_spads = %d\n", pCalData->fmt_dmax_cal.ref__actual_effective_spads );
+    fprintf(f,"fmt_dmax_cal.ref__peak_signal_count_rate_mcps = %d\n", pCalData->fmt_dmax_cal.ref__peak_signal_count_rate_mcps );
+    fprintf(f,"fmt_dmax_cal.ref__distance_mm = %d\n", pCalData->fmt_dmax_cal.ref__distance_mm );
+    fprintf(f,"fmt_dmax_cal.ref_reflectance_pc = %d\n", pCalData->fmt_dmax_cal.ref_reflectance_pc );
+    fprintf(f,"fmt_dmax_cal.coverglass_transmission = %d\n", pCalData->fmt_dmax_cal.coverglass_transmission );
+    fprintf(f,"cust_dmax_cal.ref__actual_effective_spads = %d\n", pCalData->cust_dmax_cal.ref__actual_effective_spads );
+    fprintf(f,"cust_dmax_cal.ref__peak_signal_count_rate_mcps = %d\n", pCalData->cust_dmax_cal.ref__peak_signal_count_rate_mcps );
+    fprintf(f,"cust_dmax_cal.ref__distance_mm = %d\n", pCalData->cust_dmax_cal.ref__distance_mm );
+    fprintf(f,"cust_dmax_cal.ref_reflectance_pc = %d\n", pCalData->cust_dmax_cal.ref_reflectance_pc );
+    fprintf(f,"cust_dmax_cal.coverglass_transmission = %d\n", pCalData->cust_dmax_cal.coverglass_transmission );
+    fprintf(f,"add_off_cal_data.result__mm_inner_actual_effective_spads = %d\n", pCalData->add_off_cal_data.result__mm_inner_actual_effective_spads );
+    fprintf(f,"add_off_cal_data.result__mm_outer_actual_effective_spads = %d\n", pCalData->add_off_cal_data.result__mm_outer_actual_effective_spads );
+    fprintf(f,"add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps = %d\n", pCalData->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps );
+    fprintf(f,"add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps = %d\n", pCalData->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps );
+    fprintf(f,"optical_centre.x_centre = %d\n", pCalData->optical_centre.x_centre );
+    fprintf(f,"optical_centre.y_centre = %d\n", pCalData->optical_centre.y_centre );
+    fprintf(f,"xtalkhisto.xtalk_shape.zone_id = %d\n", pCalData->xtalkhisto.xtalk_shape.zone_id );
+    fprintf(f,"xtalkhisto.xtalk_shape.time_stamp = %d\n", pCalData->xtalkhisto.xtalk_shape.time_stamp );
+    fprintf(f,"xtalkhisto.xtalk_shape.first_bin = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_022 );
+    fprintf(f,"xtalkhisto.xtalk_shape.buffer_size = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_023 );
+    fprintf(f,"xtalkhisto.xtalk_shape.number_of_bins = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_024 );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[0] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[0] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[1] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[1] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[2] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[2] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[3] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[3] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[4] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[4] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[5] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[5] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[6] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[6] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[7] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[7] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[8] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[8] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[9] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[9] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[10] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[10] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[11] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[11] );
+    fprintf(f,"xtalkhisto.xtalk_shape.phasecal_result__reference_phase = %d\n", pCalData->xtalkhisto.xtalk_shape.phasecal_result__reference_phase );
+    fprintf(f,"xtalkhisto.xtalk_shape.phasecal_result__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_shape.phasecal_result__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_shape.cal_config__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_shape.cal_config__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_shape.vcsel_width = %d\n", pCalData->xtalkhisto.xtalk_shape.vcsel_width );
+    fprintf(f,"xtalkhisto.xtalk_shape.fast_osc__frequency = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_019 );
+    fprintf(f,"xtalkhisto.xtalk_shape.zero_distance_phase = %d\n", pCalData->xtalkhisto.xtalk_shape.zero_distance_phase );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.cfg_device_state = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.cfg_device_state );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.rd_device_state = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.rd_device_state );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.zone_id = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.zone_id );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.time_stamp = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.time_stamp );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.first_bin = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_022 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.buffer_size = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_023 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.number_of_bins = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_024 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.number_of_ambient_bins = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_bins );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[0] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[0] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[1] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[1] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[2] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[2] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[3] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[3] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[4] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[4] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[5] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[5] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[0] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[0] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[1] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[1] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[2] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[2] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[3] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[3] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[4] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[4] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[5] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[5] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[0] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[0] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[1] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[1] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[2] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[2] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[3] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[3] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[4] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[4] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[5] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[5] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[6] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[6] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[7] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[7] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[8] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[8] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[9] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[9] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[10] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[10] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[11] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[11] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[12] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[12] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[13] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[13] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[14] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[14] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[15] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[15] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[16] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[16] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[17] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[17] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[18] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[18] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[19] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[19] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[20] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[20] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[21] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[21] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[22] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[22] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[23] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[23] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__interrupt_status = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__interrupt_status );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__range_status = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__range_status );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__report_status = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__report_status );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__stream_count = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__stream_count );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__dss_actual_effective_spads = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__dss_actual_effective_spads );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.phasecal_result__reference_phase = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__reference_phase );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.phasecal_result__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.cal_config__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.cal_config__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.vcsel_width = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.vcsel_width );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.vcsel_period = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_009 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.fast_osc__frequency = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_019 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.total_periods_elapsed = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.total_periods_elapsed );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.peak_duration_us = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.peak_duration_us );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.woi_duration_us = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.woi_duration_us );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.min_bin_value = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.min_bin_value );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.max_bin_value = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.max_bin_value );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.zero_distance_phase = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.zero_distance_phase );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.number_of_ambient_samples = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_samples );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.ambient_events_sum = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.ambient_events_sum );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.ambient_events_per_bin = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_004 );
+
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.roi_config__user_roi_centre_spad = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_centre_spad );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.roi_config__user_roi_requested_global_xy_size = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_requested_global_xy_size );
+    fprintf(f,"gain_cal.standard_ranging_gain_factor = %d\n", pCalData->gain_cal.standard_ranging_gain_factor );
+    fprintf(f,"gain_cal.histogram_ranging_gain_factor = %d\n", pCalData->gain_cal.histogram_ranging_gain_factor );
+    fprintf(f,"cal_peak_rate_map.cal_distance_mm = %d\n", pCalData->cal_peak_rate_map.cal_distance_mm );
+    fprintf(f,"cal_peak_rate_map.cal_reflectance_pc = %d\n", pCalData->cal_peak_rate_map.cal_reflectance_pc );
+    fprintf(f,"cal_peak_rate_map.max_samples = %d\n", pCalData->cal_peak_rate_map.max_samples );
+    fprintf(f,"cal_peak_rate_map.width = %d\n", pCalData->cal_peak_rate_map.width );
+    fprintf(f,"cal_peak_rate_map.height = %d\n", pCalData->cal_peak_rate_map.height );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[0] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[0] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[1] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[1] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[2] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[2] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[3] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[3] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[4] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[4] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[5] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[5] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[6] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[6] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[7] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[7] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[8] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[8] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[9] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[9] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[10] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[10] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[11] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[11] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[12] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[12] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[13] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[13] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[14] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[14] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[15] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[15] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[16] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[16] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[17] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[17] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[18] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[18] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[19] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[19] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[20] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[20] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[21] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[21] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[22] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[22] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[23] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[23] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[24] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[24] );
+    fprintf(f,"}\n");
+};
+
+static int cal_bin2txt(char *filein, char *fileout)
+{
+	FILE *fin;
+	FILE *fout;
+
+	int rc = 0;
+
+	VL53L1_CalibrationData_t CalData;
+	VL53L1_CalibrationData_t *pCalData = &CalData;
+
+	fin = fopen(filein, "r");
+
+	rc = fread(pCalData, sizeof(VL53L1_CalibrationData_t), 1, fin);
+	if(1 != rc) {
+		printf("Failed to read data\n");
+		return -1;
+		}
+	fclose(fin);
+
+	fout = fopen(fileout, "w");
+	SD_DumpCalData(pCalData, fout);
+	fclose(fout);
+	return 0;
+}
+
+#define GET_INTEGER_SET_VALUE_CALIB(parameter_name) \
+		fgets(line, sizeof(line), f); \
+		sscanf(line, "%s = %d ", &temp[0], &value); \
+		parameter_name = value; \
+		printf("line=%d, value=%d\n", i, value); \
+		i++;
+
+
+
+static int cal_txt2bin(char *filein, char *fileout)
+{
+	/* This function start from a calibration text file and generate a binary
+	 * file compatible with the Linux Driver output.
+	 * The script will not parse the single line but all the lines,
+	 * this means that if the order on the txt file is changed
+	 * (or setting missing) the script will fail*/
+	FILE *f;
+	char line[256];
+	char temp[256];
+	int value;
+	int n;
+	int i;
+	int rc = 0;
+	VL53L1_CalibrationData_t CalData;
+	VL53L1_CalibrationData_t *pCalData = &CalData;
+
+	f = fopen(filein, "r");
+	if (!f)
+		return errno;
+
+	i = 0;
+	while(fgets(line, sizeof(line), f)) {
+		debug("%s",line);
+
+		n = sscanf(line, "%s = 0x%x ", &temp[0], &value);
+		if (n > 1) {
+			// found hex the only number print in Hex is the structure version
+			printf("HEX line=%d, value=%x\n", i, value);
+			CalData.struct_version = value;
+			i++;
+			break;
+		}
+
+		i++;
+	}
+	// we are here after the struct version
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_0)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_1)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_2)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_3)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_4)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_5)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__ref_en_start_select)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.ref_spad_man__num_requested_ref_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.ref_spad_man__ref_location)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__crosstalk_compensation_plane_offset_kcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__crosstalk_compensation_x_plane_gradient_kcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__crosstalk_compensation_y_plane_gradient_kcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.ref_spad_char__total_rate_target_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__part_to_part_range_offset_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.mm_config__inner_offset_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.mm_config__outer_offset_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref__actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref__peak_signal_count_rate_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref__distance_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref_reflectance_pc)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.coverglass_transmission)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref__actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref__peak_signal_count_rate_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref__distance_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref_reflectance_pc)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.coverglass_transmission)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_inner_actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_outer_actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->optical_centre.x_centre)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->optical_centre.y_centre)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.zone_id)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.time_stamp)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_022)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_023)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_024)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[6])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[7])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[8])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[9])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[10])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[11])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.phasecal_result__reference_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.phasecal_result__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.cal_config__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.vcsel_width)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_019)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.zero_distance_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.cfg_device_state)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.rd_device_state)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.zone_id)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.time_stamp)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_022)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_023)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_024)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_bins)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[6])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[7])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[8])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[9])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[10])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[11])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[12])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[13])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[14])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[15])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[16])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[17])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[18])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[19])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[20])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[21])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[22])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[23])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__interrupt_status)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__range_status)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__report_status)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__stream_count)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__dss_actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__reference_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.cal_config__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.vcsel_width)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_009)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_019)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.total_periods_elapsed)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.peak_duration_us)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.woi_duration_us)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.min_bin_value)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.max_bin_value)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.zero_distance_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_samples)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.ambient_events_sum)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_004)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_centre_spad)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_requested_global_xy_size)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->gain_cal.standard_ranging_gain_factor)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->gain_cal.histogram_ranging_gain_factor)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.cal_distance_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.cal_reflectance_pc)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.max_samples)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.width)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.height)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[6])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[7])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[8])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[9])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[10])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[11])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[12])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[13])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[14])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[15])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[16])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[17])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[18])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[19])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[20])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[21])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[22])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[23])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[24])
+
+	fclose(f);
+
+	// create the .bin file:
+	rc = write_file(fileout, (void *) pCalData, sizeof(CalData));
+
+
+	return rc;
+}
+
+int main(int argc, char *argv[])
+{
+	int rc = 0;
+	int i,n;
+	char file1_c[255];
+	char file2_c[255];
+	char *file1 = &file1_c[0];
+	char *file2 = &file2_c[0];
+
+	int n_loops=1;
+	uint32_t n_roi_get=0;
+
+	int option_index = 0;
+	int c;
+	uint32_t u32;
+	float f32;
+	uint32_t u32_2;
+	float f32_2;
+	if( argc == 1 ){
+		error("what you wan't me ?");
+		help(-1);
+	}
+
+	do{
+		c = getopt_long (argc, argv, string_options , long_options, &option_index);
+		if( c == -1 ){ // -1 mean no more options
+			debug("cl end\n");
+			break;
+		}
+
+		switch (c){
+		case 'l':
+			if(optarg == NULL) {
+				error("filename are required");
+				help(-1);
+			}
+			warn("aptarg= %s", optarg);
+			n=sscanf(optarg,"%s %s", file1, file2);
+			if (n != 2) {
+				error("invalid param need two files use: in.bin out.txt %s", optarg);
+			}
+
+			printf("Use the following files: BIN=%s TXT=%s\n", file1, file2);
+
+			rc = cal_bin2txt(file1, file2);
+
+
+			break;
+
+		case 'L':
+			if(optarg == NULL) {
+				error("filename are required");
+				help(-1);
+			}
+			warn("aptarg= %s", optarg);
+			n=sscanf(optarg,"%s %s", file1, file2);
+			if (n != 2) {
+				error("invalid param need two files use: in.txt out.bin %s", optarg);
+			}
+
+			printf("Use the following files: TXT=%s BIN=%s\n", file1, file2);
+
+			rc = cal_txt2bin(file1, file2);
+
+
+			break;
+
+		case 'd':
+			n=sscanf(optarg, "%d", &i);
+			if( n==1){
+				set_new_device(i);
+			}
+			else{
+				error("invalid/ wrong dev number in %s",  optarg);
+				help(1);
+			}
+			break;
+
+		case 'm' :
+			HANDLE_PARAMETER_INTEGER(mode, "mode");
+			break;
+
+		case 'M' :
+			if( optarg!=NULL){
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			run_meas_loop( n_loops);
+			break;
+
+		case 'o' : // roi get
+			// skip = in short format type opt
+			if( *optarg == '='){
+				optarg++;
+			}
+			n = sscanf(optarg, "%d", &u32);
+			if( n < 1){
+				error("invalid no of roi in %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = stmvl53l1_get_roi(dev_fd, dev_rois, u32, &n_roi_get);
+			if( rc == 0 ){
+				if( n_roi_get != u32){
+					warn("ROI asked %d but got %d", u32, n_roi_get);
+				}
+				dump_roi(stdout,dev_rois, MIN(n_roi_get,u32));
+			}
+			break;
+
+		case 'O': //roi get
+			if( optarg == NULL ){ // no arg kill
+				debug("no arg unset roi");
+				u32=0;
+				rc = 0;
+			}
+			else{
+				if( *optarg == '='){
+					optarg++;
+				}
+				debug("set roi arg %s",optarg);
+				rc= parse_roi_arg(optarg, dev_rois, &u32);
+			}
+			if( rc >= 0 ){
+				verbose("%d roi to set", u32);
+				dump_roi(stdout,dev_rois, u32);
+				open_dev_or_die();
+				rc = stmvl53l1_set_roi(dev_fd, dev_rois,u32);
+			}
+			else{
+				error("set roi");
+				help(-1);
+			}
+			break;
+
+		case 'p' :
+			HANDLE_PARAMETER_INTEGER(set_delay_ms, "poll delay time");
+			break;
+
+		case 'P' :
+			if( *optarg== '=' ){
+				optarg++;
+			}
+			n=sscanf(optarg,"%d" , &run_poll_ms);
+			if( n != 1){
+				error("invalid pause time in %s", optarg);
+				help(-1);
+			}
+			verbose("pause time set to %d msec", run_poll_ms);
+			break;
+		case 'r' :
+			if( optarg!=NULL){
+				//process optional arg
+				// on short form -r=10 may be given or --range=10
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			for( i=0; i< n_loops; i++ ){
+				rc=stmvl53l1_get_data(dev_fd, &dev_1xrange_data);
+				if( rc==0){
+					dev_print_1xdata();
+				}
+				else{
+					error("data error on loop %d", i);
+					break;
+				}
+				if( i < n_loops-1){
+					usleep(run_poll_ms*1000);
+				}
+			}
+			break;
+
+		case 's':
+			open_dev_or_die();
+			rc= stmvl53l1_prestart_checks(dev_fd);
+			rc= stmvl53l1_start(dev_fd);
+			verbose("started status %d",rc);
+			break;
+
+		case 'S':
+			open_dev_or_die();
+			rc=stmvl53l1_stop(dev_fd);
+			verbose("stopped status %d", rc);
+			break;
+
+		case 't' :
+			HANDLE_PARAMETER_INTEGER(timing_budget, "timing budget");
+			break;
+
+		case 'z':
+			if( optarg!=NULL){
+				//process optional arg
+				// on short form -r=10 may be given or --range=10
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			for( i=0; i< n_loops; i++ ){
+				rc=stmvl53l1_get_mz_data(dev_fd, &dev_mz_range_data);
+				if( rc==0){
+					dev_print_mz_data();
+				}
+				else{
+					error("data error on loop %d", i);
+					break;
+				}
+				if( i < n_loops-1){
+					usleep(run_poll_ms*1000);
+				}
+			}
+			break;
+
+		case 'Z':
+			if( *optarg== '=' ){
+				optarg++;
+			}
+			n=sscanf(optarg,"%d", &u32);
+			if( n!=1){
+				error("invalid wrong number of zone loop in %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			run_zone_loop((int)u32);
+			break;
+
+		case 'R':
+			open_dev_or_die();
+			rc = perform_ref_spad_calibration();
+			break;
+
+		case 'X':
+			if( *optarg== '=' ) {
+				optarg++;
+			}
+			n = sscanf(optarg,"%d %d", &u32, &u32_2);
+			printf("Xtalk : n=%d Method = %d, PresetMode = %d\n", n, u32, u32_2);
+			if (n != 2) {
+				error("invalid crosstalk calibration params %s", optarg);
+			}
+			open_dev_or_die();
+			rc = perform_crosstalk_calibration(u32, u32_2);
+			break;
+
+		case 'F':
+			if( *optarg== '=' ) {
+				optarg++;
+			}
+			n = sscanf(optarg,"%d %d %f", &u32, &u32_2, &f32);
+			printf("Offset : n=%d Mode = %d, Distance = %d, Reflectance = %f\n", n, u32, u32_2, f32);
+			if (n != 3) {
+				error("invalid offset calibration distance %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			/* then mode is the first parameter:
+			 * mode = 1 ==> VL53L1_CALIBRATION_OFFSET
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2
+			 * mode = 2 ==> VL53L1_CALIBRATION_OFFSET
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2
+			 * mode = 3 ==> VL53L1_CALIBRATION_OFFSET_PER_ZONE
+			 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE
+			 * mode = 4 ==> VL53L1_CALIBRATION_OFFSET_SIMPLE
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+			 * */
+			rc = perform_offset_calibration(u32, u32_2, f32);
+			break;
+
+		case 'c':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = get_calibration_data(optarg);
+			break;
+
+		case 'C':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = set_calibration_data(optarg);
+			break;
+
+		case 'D':
+			HANDLE_PARAMETER_INTEGER(distance_mode, "distance mode");
+			break;
+
+		case 'E':
+			HANDLE_PARAMETER_INTEGER(crosstalk_enable, "crosstalk enable");
+			break;
+
+		case 'U':
+			HANDLE_PARAMETER_INTEGER(output_mode, "output mode");
+			break;
+
+		case 'f':
+			HANDLE_PARAMETER_INTEGER(force_device_on_enable, "force device on enable");
+			break;
+
+		case 'T':
+			HANDLE_PARAMETER_INTEGER(offset_correction_mode, "offset correction mode");
+			break;
+
+		case 'a':
+			open_dev_or_die();
+			if(optarg != NULL) {
+				if(*optarg == '=')
+					optarg++;
+				rc = stmvl53l1_set_auto_config(dev_fd, optarg);
+			} else
+				rc = stmvl53l1_get_auto_config(dev_fd);
+			break;
+
+		case 'y':
+			is_sysfs = 1;
+			break;
+
+		case 'Y':
+			is_sysfs = 0;
+			break;
+
+		case 'I':
+			open_dev_or_die();
+			rc = stmvl53l1_get_optical_center(dev_fd, &f32, &f32_2);
+			if (rc == 0)
+				info("optical center offset x = %f / y = %f", f32, f32_2);
+			break;
+
+		case 'A':
+			open_dev_or_die();
+			if( optarg!=NULL){
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%f", &f32);
+				if( n!=1){
+					error("invalid dmax reflectance %s", optarg);
+					help(-1);
+				}
+				// set mode
+				rc=stmvl53l1_set_dmax_reflectance(dev_fd, f32);
+				if( rc == 0){
+					info("set dmax reflectance %f", f32);
+				}
+			}
+			else{
+				rc=stmvl53l1_get_dmax_reflectance(dev_fd, &f32);
+				if( rc == 0){
+					info("get dmax reflectance %f", f32);
+				}
+			}
+			break;
+
+		case 'B':
+			HANDLE_PARAMETER_INTEGER(dmax_mode, "dmax mode");
+			break;
+
+		case 'w':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = get_zone_calibration_data(optarg);
+			break;
+
+		case 'W':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = set_zone_calibration_data(optarg);
+			break;
+
+		case 'N':
+			if( *optarg== '=' ) {
+				optarg++;
+			}
+			n = sscanf(optarg,"%d %d", &u32, &u32_2);
+			if (n != 2) {
+				error("invalid tuning parameters %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = perform_tuning(dev_fd, u32, u32_2);
+			break;
+
+		case 'g':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = get_tuning(optarg);
+			break;
+
+		case 'G':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = set_tuning(optarg);
+			break;
+
+		case 'h':
+			HANDLE_PARAMETER_INTEGER(smudge_correction_mode, "smudge correction mode");
+			break;
+
+		case 'j':
+			if( optarg!=NULL){
+				//process optional arg
+				// on short form -r=10 may be given or --range=10
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			for( i=0; i< n_loops; i++ ){
+				rc=stmvl53l1_get_mz_data_additional(dev_fd, &dev_mz_range_data_additional);
+				if( rc==0){
+					dev_print_mz_data_additional();
+				}
+				else{
+					error("data error on loop %d", i);
+					break;
+				}
+				if( i < n_loops-1){
+					usleep(run_poll_ms*1000);
+				}
+			}
+			break;
+
+		case 'J':
+			if( *optarg== '=' ){
+				optarg++;
+			}
+			n=sscanf(optarg,"%d", &u32);
+			if( n!=1){
+				error("invalid wrong number of zone loop in %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			run_zone_loop_additional((int)u32);
+			break;
+
+		case 0: // flags option keep going
+			break;
+
+		case '?':
+			// TODO we don't quite do a good job with ? it is also unknown option etc return from get opt
+
+		default:
+			help(1);
+			exit(1);
+		}
+	}
+	while(1);  // exit from inner loop
+//done:
+	if( dev_fd)
+		close(dev_fd);
+	return rc;
+}
diff --git a/drivers/input/misc/vl53l1_test/phio_14_1_2.c b/drivers/input/misc/vl53l1_test/phio_14_1_2.c
new file mode 100644
index 000000000000..5aa0693071e7
--- /dev/null
+++ b/drivers/input/misc/vl53l1_test/phio_14_1_2.c
@@ -0,0 +1,3399 @@
+/**
+ *@file  phio.c  cmd line tools to stmvl531 ioctl interface
+ *
+ */
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <dirent.h>
+
+#include <linux/input.h>
+
+/* local bare driver top api file */
+#include "vl53l1_def.h"
+/* our driver kernel interface */
+#include "stmvl53l1_if.h"
+#include "stmvl53l1_internal_if.h"
+
+#include <time.h>
+#include <getopt.h>
+
+#define UNUSED __attribute__((unused))
+
+#ifndef MAX
+#define MAX(a,b ) ((a)> (b) ? (a) : (b))
+#endif
+#ifndef MIN
+#define MIN(a,b ) ((a)< (b) ? (a) : (b))
+#endif
+
+#define MIN_AUTONOMOUS_TIMING_BUDGET   41000 /* in ms */
+#define MIN_LITE_TIMING_BUDGET         17000
+#define MIN_AUTOLOWPOWER_TIMING_BUDGET 20000
+#define MIN_DEFAULT_TIMING_BUDGET       8000
+
+#define EVENT_NB	14
+const int index_to_code[EVENT_NB] = {ABS_DISTANCE, ABS_HAT0X, ABS_HAT0Y, ABS_HAT1X,
+	ABS_HAT1Y, ABS_HAT2X, ABS_HAT2Y, ABS_HAT3X, ABS_HAT3Y, ABS_WHEEL, ABS_PRESSURE,
+	ABS_BRAKE, ABS_TILT_X, ABS_TOOL_WIDTH};
+static int event_values[EVENT_NB];
+static int input_fd;
+
+#define AVG_TABLE_LENGTH 5
+struct RangingDataProcess_t {
+	/* internal usage variables : */
+	int16_t Range[AVG_TABLE_LENGTH];
+	uint8_t Status[AVG_TABLE_LENGTH];
+	uint8_t Current;
+	uint8_t Entries;
+	uint8_t TotalNoCount;
+	int16_t LastAvgRange;
+	uint8_t LastConfLevel;
+	uint32_t TimingBudgetMicroSeconds;
+	/* parameters to be set before to pass the structure to
+	 * InitRangingDataProcess() function :
+	 */
+	uint8_t EnableDistanceModeSwitch;
+	FixPoint1616_t HALI;
+	FixPoint1616_t HALH;
+	FixPoint1616_t MALI;
+	FixPoint1616_t MALH;
+	uint8_t Leaky;
+	uint8_t EnableTimingBudgetSwitch;
+	FixPoint1616_t SignalThreshold1;
+	FixPoint1616_t SignalThreshold2;
+};
+
+static struct RangingDataProcess_t RangingData;
+
+static int InitRangingDataProcess(int dev,
+		struct RangingDataProcess_t *pData);
+
+static void GenNewAmbientPresetMode(FixPoint1616_t Ambient,
+		FixPoint1616_t HALI,
+		FixPoint1616_t HALH,
+		FixPoint1616_t MALI,
+		FixPoint1616_t MALH,
+		VL53L1_DistanceModes InternalDistanceMode,
+		VL53L1_DistanceModes *pNewDistanceMode);
+
+static void RangingDataProcess(int dev,
+		struct RangingDataProcess_t *pData,
+		VL53L1_MultiRangingData_t *pRange,
+		int16_t *pAvgRangeMilliMeter,
+		uint8_t *pConfLevel);
+
+
+#define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))
+
+#define SYSFS_MAX_LEN			4096
+
+#define verbose(fmt, ...)\
+	do{ \
+		printf("[V]" fmt"\n", ##__VA_ARGS__);\
+		fflush(stdout);\
+	}while(0)
+
+#define info(fmt, ...)\
+	do{ \
+		printf("[I]" fmt"\n", ##__VA_ARGS__);\
+		fflush(stdout);\
+	}while(0)
+
+#define error(fmt, ...)  fprintf(stderr, "[E] " fmt"\n", ##__VA_ARGS__)
+#define warn(fmt, ...)  fprintf(stderr, "[W] " fmt"\n", ##__VA_ARGS__)
+
+#define debug(fmt,...)\
+	do{ \
+		printf("d " fmt"\n", ##__VA_ARGS__); \
+		fflush(stdout);\
+	}while(0)
+
+
+#define ioctl_error(fmt,...) do { \
+	int is_eio_error = errno == EIO; \
+	fprintf(stderr, "[Eio] %s " fmt"" , __func__, ##__VA_ARGS__); \
+	if (is_eio_error) \
+		display_device_error(dev_fd); \
+	else \
+		fprintf(stderr, "\n"); \
+} while(0)
+#define ioctl_warn(fmt,...)  fprintf(stderr, "[Wio] %s " fmt"\n" , __func__, ##__VA_ARGS__)
+
+#define timer_start(t) clock_gettime(CLOCK_MONOTONIC, t)
+
+static int is_sysfs;
+
+extern int dev_fd;
+
+#define IMPLEMENT_PARAMETER_INTEGER(sysfs_name, parameter_name) \
+int stmvl53l1_get_##sysfs_name(int fd, uint32_t *param) \
+{ \
+	return is_sysfs ? stmvl53l1_get_integer_sysfs(param, #sysfs_name) \
+		: stmvl53l1_get_integer_ioctl(fd, param, parameter_name); \
+} \
+ \
+int stmvl53l1_set_##sysfs_name(int fd, uint32_t param) \
+{ \
+	return is_sysfs ? stmvl53l1_set_integer_sysfs(param, #sysfs_name) \
+		: stmvl53l1_set_integer_ioctl(fd, param, parameter_name); \
+}
+
+static void display_device_error(int fd)
+{
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = VL53L1_LASTERROR_PAR;
+
+	ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	fprintf(stderr, " [device i/o error is %d]\n", params.value);
+}
+
+long  timer_elapsed_us(struct timespec *pt){
+	struct timespec now;
+	clock_gettime(CLOCK_MONOTONIC, &now);
+	long delta = (now.tv_sec-pt->tv_sec) + (now.tv_nsec-pt->tv_nsec)/1000;
+	if( now.tv_nsec-pt->tv_nsec < 0){
+		delta+=1000000;
+	}
+	return delta;
+}
+
+static float auto_16x16_to_float(FixPoint1616_t fix)
+{
+	return fix / 65536.0;
+}
+
+static FixPoint1616_t auto_float_to_16x16(float f)
+{
+	return (uint32_t)(f * 65536);
+}
+
+static char *strjoin_with_separator(char *a, char *b)
+{
+	char *res = malloc(strlen(a) + 1 + strlen(b) + 1);
+
+	if (res) {
+		strcpy(res, a);
+		res[strlen(a)] = '/';
+		res[strlen(a)+1] = '\0';
+		strcat(res, b);
+	}
+
+	return res;
+}
+
+static char *test_sysfs_root(char *dirname)
+{
+	char *full_dir = strjoin_with_separator("/sys/class/input", dirname);
+	char *full_name_path = NULL;
+	int fd = -1;
+	char b[SYSFS_MAX_LEN] = "\n";
+	int rc;
+
+	if (!full_dir)
+		goto error;
+
+	full_name_path = strjoin_with_separator(full_dir, "name");
+	if (!full_name_path)
+		goto error;
+
+	fd = open(full_name_path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		goto error;
+
+	/* replace new line with end of string */
+	b[rc-1] = '\0';
+	if (strcmp("STM VL53L1 proximity sensor", b))
+		goto error;
+
+	free(full_name_path);
+	close(fd);
+
+	return full_dir;
+
+error:
+	if (full_dir)
+		free(full_dir);
+	if (full_name_path)
+		free(full_name_path);
+	if (fd >= 0)
+		close(fd);
+
+	return NULL;
+}
+
+
+static char *stmvl53l1_sysfs_find_device()
+{
+	static char *sysfs_root = NULL;
+
+	if (!sysfs_root) {
+		DIR *d;
+		struct dirent *dir;
+
+		d = opendir("/sys/class/input");
+		if (d) {
+			while ((dir = readdir(d)) != NULL) {
+				sysfs_root = test_sysfs_root(dir->d_name);
+				if (sysfs_root)
+					break;
+			}
+			closedir(d);
+		}
+		if (sysfs_root)
+			verbose("sysfs dir %s", sysfs_root);
+	}
+
+	return sysfs_root;
+}
+
+static int stmvl53l1_sysfs_open(char *name, int is_read)
+{
+	int fd = -1;
+	char *path = stmvl53l1_sysfs_find_device();
+	char *full_path;
+
+	if (!path)
+		return -1;
+
+	full_path = strjoin_with_separator(path, name);
+	if (!full_path)
+		return -1;
+
+	fd = open(full_path, is_read ? O_RDONLY: O_WRONLY);
+
+	free(full_path);
+
+	return fd;
+}
+
+static int stmvl53l1_sysfs_open_read(char *name)
+{
+	return stmvl53l1_sysfs_open(name , 1);
+}
+
+static int stmvl53l1_sysfs_open_write(char *name)
+{
+	return stmvl53l1_sysfs_open(name , 0);
+}
+
+static int stmvl53l1_sysfs_read_integer(char *name, int *res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	*res = atoi(b);
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_read_float(char *name, float *res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	*res = atof(b);
+
+	close(fd);
+
+	return 0;
+}
+
+UNUSED static int stmvl53l1_sysfs_read_two_integer(char *name, int *res, int *res2)
+{
+	int fd;
+	int rc = 0;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	rc = sscanf(b, "%d %d", res, res2);
+	if (rc != 2)
+		rc = -1;
+
+	close(fd);
+
+	return rc;
+}
+
+static int stmvl53l1_sysfs_read_two_float(char *name, float *res, float *res2)
+{
+	int fd;
+	int rc = 0;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	*res = 0;
+	rc = read(fd, b, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	rc = sscanf(b, "%f %f", res, res2);
+	if (rc != 2)
+		rc = -1;
+
+	close(fd);
+
+	return rc;
+}
+
+static int stmvl53l1_sysfs_write_string(char *name, char *str)
+{
+	int fd;
+	int rc;
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = write(fd, str, strlen(str) + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_read_string(char *name, char *str)
+{
+	int fd;
+	int rc;
+
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	rc = read(fd, str, SYSFS_MAX_LEN);
+	if (rc < 0)
+		return rc;
+	str[rc] = '\0';
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_write_integer(char *name, int res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = sprintf(b, "%d", res);
+	rc = write(fd, b, rc + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_write_two_integer(char *name, int res, int res2)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = sprintf(b, "%d %d", res, res2);
+	rc = write(fd, b, rc + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_write_float(char *name, float res)
+{
+	int fd;
+	int rc;
+	char b[SYSFS_MAX_LEN];
+
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	rc = sprintf(b, "%f", res);
+	rc = write(fd, b, rc + 1);
+	if (rc < 0)
+		return rc;
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_sysfs_read_binary_data(char *name, void *buf, int size)
+{
+	int fd;
+	int rc = 0;
+    unsigned char *cp = buf;
+	fd = stmvl53l1_sysfs_open_read(name);
+	if (fd < 0)
+		return fd;
+
+	while (size) {
+		rc = read(fd, cp, size);
+		if (rc <= 0)
+			break;
+		size -= rc;
+		cp += rc;
+	}
+
+	return rc <= 0 ? -1 : 0;
+}
+
+static int stmvl53l1_sysfs_write_binary_data(char *name, void *buf, int size)
+{
+	int fd;
+	int rc = 0;
+    unsigned char *cp = buf;
+	fd = stmvl53l1_sysfs_open_write(name);
+	if (fd < 0)
+		return fd;
+
+	while (size) {
+		rc = write(fd, cp, size);
+		if (rc <= 0)
+			break;
+		size -= rc;
+		cp += rc;
+	}
+
+	return rc <= 0 ? -1 : 0;
+}
+
+/* generic function to set/get parameter which is of integer type */
+static int stmvl53l1_set_integer_sysfs(uint32_t param, char *sysfs_name)
+{
+	return stmvl53l1_sysfs_write_integer(sysfs_name, param);
+}
+
+static int stmvl53l1_set_integer_ioctl(int fd, uint32_t param, stmv53l1_parameter_name_e parameter_name)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 0;
+	params.name = parameter_name;
+	params.value = param;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("ebusy can't set now");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+static int stmvl53l1_get_integer_sysfs(uint32_t *param, char *sysfs_name)
+{
+	return stmvl53l1_sysfs_read_integer(sysfs_name, (int *) param);
+}
+
+static int stmvl53l1_get_integer_ioctl(int fd, uint32_t *param, stmv53l1_parameter_name_e parameter_name)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = parameter_name;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	} else{
+		rc = params.status;
+		if( rc == 0 )
+			*param = params.value;
+	}
+
+	return rc;
+}
+
+static int code_to_index(int code)
+{
+	int i;
+
+	for(i = 0; i < EVENT_NB; i++) {
+		if (index_to_code[i] == code)
+			break;
+	}
+
+	return i == EVENT_NB ? -1 : i;
+}
+
+static char *test_event_path(char *event_path)
+{
+	int fd = -1;
+	int rc;
+	char name[256] = "\n";
+	char *full_event_path = NULL;
+
+	full_event_path = strjoin_with_separator("/dev/input", event_path);
+	if (!full_event_path)
+		goto error;
+
+	fd = open(full_event_path, O_RDONLY);
+	if (fd < 0)
+		goto error;
+
+	rc = ioctl(fd, EVIOCGNAME(sizeof(name)), name);
+	if (rc < 0)
+		goto error;
+
+	if (strcmp("STM VL53L1 proximity sensor", name))
+		goto error;
+
+	close(fd);
+
+	return full_event_path;
+
+error:
+	if (full_event_path)
+		free(full_event_path);
+	if (fd >= 0)
+		close(fd);
+
+	return NULL;
+}
+
+static char *stmvl53l1_find_event_path()
+{
+	static char *event_path = NULL;
+
+	if (!event_path) {
+		DIR *d;
+		struct dirent *dir;
+
+		d = opendir("/dev/input");
+		if (d) {
+			while ((dir = readdir(d)) != NULL) {
+				event_path = test_event_path(dir->d_name);
+				if (event_path)
+					break;
+			}
+			closedir(d);
+		}
+
+		if (event_path)
+			verbose("event path %s", event_path);
+	}
+
+	return event_path;
+}
+
+static int stmvl53l1_input_open()
+{
+	char *event = stmvl53l1_find_event_path();
+
+	if (!event)
+		return -1;
+
+	return open(event, O_RDONLY);
+}
+
+static int open_input_subsystem()
+{
+	input_fd = stmvl53l1_input_open();
+	int i;
+
+	memset(&event_values, 0, sizeof(event_values));
+	if (input_fd >= 0) {
+		for(i = 0; i < EVENT_NB; i++) {
+			struct input_absinfo info;
+			int rc = ioctl(input_fd, EVIOCGABS(index_to_code[i]), &info);
+			if (rc < 0) {
+				close(input_fd);
+				return -1;
+			}
+			event_values[i] = info.value;
+		}
+	}
+
+	return input_fd;
+}
+
+static void close_input_subsystem()
+{
+	close(input_fd);
+}
+
+int write_file(char *name, char *buf, int len)
+{
+	int fd;
+	int sz;
+
+	fd = open(name, O_WRONLY | O_CREAT, S_IRUSR | S_IWUSR | S_IRGRP | S_IWGRP | S_IROTH | S_IWOTH);
+	if (fd < -1) {
+		error("Unable to create %s", name);
+
+		return fd;
+	}
+
+	while(len) {
+		sz = write(fd, buf, len);
+		if (sz <= 0) {
+			error("Unable to write all data in %s", name);
+			return -1;
+		}
+		len -= sz;
+		buf += sz;
+	}
+
+	close(fd);
+
+	return 0;
+}
+
+int read_file(char *name, char *buf, int len)
+{
+	int fd;
+	int sz;
+
+	fd = open(name, O_RDONLY);
+	if (fd < -1) {
+		error("Unable to open %s for read", name);
+
+		return fd;
+	}
+
+	while(len) {
+		sz = read(fd, buf, len);
+		if (sz <= 0) {
+			error("Unable to read all data from %s", name);
+			return -1;
+		}
+		len -= sz;
+		buf += sz;
+	}
+
+	close(fd);
+
+	return 0;
+}
+
+static int stmvl53l1_start_sysfs()
+{
+	return stmvl53l1_sysfs_write_integer("enable_ps_sensor", 1);
+}
+
+static int stmvl53l1_start_ioctl(int fd){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_START,NULL);
+	if( rc ){
+		if( errno == EBUSY){
+			//the devise is already started mke err code >0
+			ioctl_warn("already started or calibrating");
+			return EBUSY;
+		}
+	}
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_start(int fd)
+{
+	return is_sysfs ? stmvl53l1_start_sysfs() : stmvl53l1_start_ioctl(fd);
+}
+
+static int stmvl53l1_stop_sysfs()
+{
+	return stmvl53l1_sysfs_write_integer("enable_ps_sensor", 0);
+}
+
+static int stmvl53l1_stop_ioctl(int fd){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_STOP,NULL);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("already stopped");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_stop(int fd)
+{
+	return is_sysfs ? stmvl53l1_stop_sysfs() : stmvl53l1_stop_ioctl(fd);
+}
+
+IMPLEMENT_PARAMETER_INTEGER(timing_budget, VL53L1_TIMINGBUDGET_PAR)
+IMPLEMENT_PARAMETER_INTEGER(set_delay_ms, VL53L1_POLLDELAY_PAR)
+IMPLEMENT_PARAMETER_INTEGER(mode, VL53L1_DEVICEMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(distance_mode, VL53L1_DISTANCEMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(crosstalk_enable, VL53L1_XTALKENABLE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(output_mode, VL53L1_OUTPUTMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(offset_correction_mode, VL53L1_OFFSETCORRECTIONMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(force_device_on_enable, VL53L1_FORCEDEVICEONEN_PAR)
+IMPLEMENT_PARAMETER_INTEGER(dmax_mode, VL53L1_DMAXMODE_PAR)
+IMPLEMENT_PARAMETER_INTEGER(smudge_correction_mode, VL53L1_SMUDGECORRECTIONMODE_PAR)
+
+int stmvl53l1_get_data(int fd, stmvl531_range_data_t *data){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_GETDATAS, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+
+int stmvl53l1_get_mz_data(int fd, VL53L1_MultiRangingData_t *data){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_get_mz_data_additional(int fd, struct stmvl53l1_data_with_additional *data){
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA_ADDITIONAL, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+static void process_ewok_event(struct input_event *event)
+{
+	int index = code_to_index(event->code);
+
+	if (index < 0)
+		debug("unknown code %d", event->code);
+	else
+		event_values[index] = event->value;
+}
+
+void event_values_to_data(stmvl531_range_data_t *data)
+{
+	data->TimeStamp = event_values[code_to_index(ABS_HAT0X)] * 1000 +
+		event_values[code_to_index(ABS_HAT0Y)] / 1000;
+	data->RangeMilliMeter = event_values[code_to_index(ABS_HAT1X)];
+	data->RangeStatus = event_values[code_to_index(ABS_HAT1Y)];
+	data->SignalRateRtnMegaCps = event_values[code_to_index(ABS_HAT2X)];
+	data->AmbientRateRtnMegaCps = event_values[code_to_index(ABS_HAT2Y)];
+	data->SigmaMilliMeter =event_values[code_to_index(ABS_HAT3X)];
+//	data->DmaxMilliMeter = event_values[code_to_index(ABS_HAT3Y)];
+	data->EffectiveSpadRtnCount = event_values[code_to_index(ABS_PRESSURE)];
+//	data->RangeMaxMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 16) & 0xffff;
+//	data->RangeMinMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 0) & 0xffff;
+	data->RangeQualityLevel = event_values[code_to_index(ABS_TOOL_WIDTH)];
+}
+
+void event_values_to_targetdata(VL53L1_MultiRangingData_t *mdata, int obj_current)
+{
+	VL53L1_TargetRangeData_t *data = &mdata->RangeData[obj_current];
+	mdata->TimeStamp = event_values[code_to_index(ABS_HAT0X)] * 1000 +
+		event_values[code_to_index(ABS_HAT0Y)] / 1000;
+	data->RangeMilliMeter = event_values[code_to_index(ABS_HAT1X)];
+	data->RangeStatus = event_values[code_to_index(ABS_HAT1Y)];
+	data->SignalRateRtnMegaCps = event_values[code_to_index(ABS_HAT2X)];
+	data->AmbientRateRtnMegaCps = event_values[code_to_index(ABS_HAT2Y)];
+	data->SigmaMilliMeter =event_values[code_to_index(ABS_HAT3X)];
+	mdata->DmaxMilliMeter = event_values[code_to_index(ABS_HAT3Y)];
+	mdata->EffectiveSpadRtnCount = event_values[code_to_index(ABS_PRESSURE)];
+	data->RangeMaxMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 16) & 0xffff;
+	data->RangeMinMilliMeter = (event_values[code_to_index(ABS_TILT_X)] >> 0) & 0xffff;
+	data->RangeQualityLevel = event_values[code_to_index(ABS_TOOL_WIDTH)];
+}
+
+static int collect_event_until_next_syn_report()
+{
+	struct input_event event;
+	int is_syn_report_rcv = 0;
+	int rc;
+
+	while(!is_syn_report_rcv) {
+		rc = read(input_fd, &event, sizeof(event));
+		if (rc < 0 || rc != sizeof(event))
+			return -1;
+		switch(event.type) {
+			case EV_ABS:
+				process_ewok_event(&event);
+				break;
+			case EV_SYN:
+				if (event.code == SYN_REPORT)
+					is_syn_report_rcv = 1;
+				else if (event.code == SYN_DROPPED) {
+					debug("loose sync");
+					return -1;
+				} else {
+					debug("unknown code %d", event.code);
+					return -1;
+				}
+				break;
+			default:
+				debug("unsupported event type = %d", event.type);
+		}
+	}
+
+	return 0;
+}
+
+static int stmvl53l1_get_data_blocking_sysfs(stmvl531_range_data_t *data)
+{
+	int rc;
+
+	rc = collect_event_until_next_syn_report();
+	if (rc)
+		return rc;
+	event_values_to_data(data);
+
+	return 0;
+}
+
+static int stmvl53l1_get_data_blocking_ioctl(int fd, stmvl531_range_data_t *data)
+{
+	int rc;
+
+	rc= ioctl(fd, VL53L1_IOCTL_GETDATAS_BLOCKING, data);
+	if(rc != 0) {
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+
+	return rc;
+}
+
+int stmvl53l1_get_data_blocking(int fd, stmvl531_range_data_t *data)
+{
+	return is_sysfs ? stmvl53l1_get_data_blocking_sysfs(data)
+		: stmvl53l1_get_data_blocking_ioctl(fd, data);
+}
+
+static int event_values_to_multidata(VL53L1_MultiRangingData_t *data)
+{
+	int roiStatus = (event_values[code_to_index(ABS_BRAKE)] >> 24) & 0xff;
+	int roi = (event_values[code_to_index(ABS_BRAKE)] >> 16) & 0xff;
+	int obj_number = (event_values[code_to_index(ABS_BRAKE)] >> 8) & 0xff;
+	int obj_current = (event_values[code_to_index(ABS_BRAKE)] >> 0) & 0xff;
+
+	data->RoiNumber = roi;
+	data->NumberOfObjectsFound = obj_number;
+	data->RoiStatus = roiStatus;
+	event_values_to_targetdata(data, obj_current);
+
+	return obj_number == (obj_current + 1);
+}
+
+static int stmvl53l1_get_mz_data_blocking_sysfs(VL53L1_MultiRangingData_t *data)
+{
+	int rc;
+	int is_last = 0;
+
+	do {
+		rc = collect_event_until_next_syn_report();
+		if (rc)
+			return rc;
+		is_last = event_values_to_multidata(data);
+	} while(!is_last);
+
+	return 0;
+}
+
+static int stmvl53l1_get_mz_data_blocking_ioctl(int fd, VL53L1_MultiRangingData_t *data)
+{
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA_BLOCKING, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_get_mz_data_blocking(int fd, VL53L1_MultiRangingData_t *data)
+{
+	return is_sysfs ? stmvl53l1_get_mz_data_blocking_sysfs(data)
+		: stmvl53l1_get_mz_data_blocking_ioctl(fd, data);
+}
+
+int stmvl53l1_get_mz_data_blocking_additional(int fd, struct stmvl53l1_data_with_additional *data)
+{
+	int rc;
+	rc= ioctl(fd, VL53L1_IOCTL_MZ_DATA_ADDITIONAL_BLOCKING, data);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+extern int parse_roi_arg(const char *buff, VL53L1_UserRoi_t *rois, uint32_t *p_n_roi);
+static int stmvl53l1_get_roi_sysfs(VL53L1_UserRoi_t *roi, uint32_t n_roi, uint32_t *used_roi)
+{
+	int rc;
+	char b[SYSFS_MAX_LEN];
+	struct stmvl53l1_roi_full_t ioctl_roi;
+
+	rc = stmvl53l1_sysfs_read_string("roi", b);
+	if (rc < 0)
+		return rc;
+
+	if (strncmp("device default", b, strlen("device default")) == 0) {
+		ioctl_roi.roi_cfg.NumberOfRoi = 0;
+	} else {
+		uint32_t nb_roi;
+
+		rc = parse_roi_arg(b, ioctl_roi.roi_cfg.UserRois, &nb_roi);
+		if (rc >= 0) {
+			ioctl_roi.roi_cfg.NumberOfRoi = nb_roi;
+			rc = 0;
+		}
+	}
+
+	if (!rc) {
+		//avoid core dump and onlyuy update number of roi in case we have to do bug check
+		int to_cpy = n_roi> VL53L1_MAX_USER_ZONES ? VL53L1_MAX_USER_ZONES : n_roi;
+		memcpy( roi, ioctl_roi.roi_cfg.UserRois, to_cpy*sizeof(*roi));
+		*used_roi = ioctl_roi.roi_cfg.NumberOfRoi;
+	}
+
+	return rc;
+}
+
+static int stmvl53l1_get_roi_ioctl( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi, uint32_t *used_roi)
+{
+	struct stmvl53l1_roi_full_t ioctl_roi;
+	int rc;
+	ioctl_roi.is_read = 1;
+	ioctl_roi.roi_cfg.NumberOfRoi = n_roi;
+	rc= ioctl(fd, VL53L1_IOCTL_ROI, &ioctl_roi);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		//avoid core dump and onlyuy update number of roi in case we have to do bug check
+		int to_cpy = n_roi> VL53L1_MAX_USER_ZONES ? VL53L1_MAX_USER_ZONES : n_roi;
+		memcpy( roi, ioctl_roi.roi_cfg.UserRois, to_cpy*sizeof(*roi));
+		*used_roi = ioctl_roi.roi_cfg.NumberOfRoi;
+	}
+	return rc;
+}
+
+int stmvl53l1_get_roi( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi, uint32_t *used_roi)
+{
+	return is_sysfs ? stmvl53l1_get_roi_sysfs(roi, n_roi, used_roi)
+		: stmvl53l1_get_roi_ioctl(fd, roi, n_roi, used_roi);
+}
+
+
+static int stmvl53l1_set_roi_sysfs(VL53L1_UserRoi_t *roi, uint32_t n_roi)
+{
+	int rc;
+
+	if (n_roi > VL53L1_MAX_USER_ZONES) {
+		error("can't set %d roi > %d", (int)n_roi, VL53L1_MAX_USER_ZONES);
+		return -1;
+	}
+
+	if (n_roi) {
+		char b[SYSFS_MAX_LEN];
+		char *c = b;
+		uint32_t i;
+
+		for(i = 0; i < n_roi; i++) {
+			if (i)
+				c += sprintf(c, ", ");
+			c += sprintf(c, "%d %d %d %d",
+				roi[i].TopLeftX,
+				roi[i].TopLeftY,
+				roi[i].BotRightX,
+				roi[i].BotRightY);
+		}
+		sprintf(c, "\n");
+		rc = stmvl53l1_sysfs_write_string("roi", b);
+	} else {
+		rc = stmvl53l1_sysfs_write_string("roi", "");
+	}
+
+	return rc;
+}
+
+static int stmvl53l1_set_roi_ioctl( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi)
+{
+	struct stmvl53l1_roi_full_t ioctl_roi;
+	int rc;
+	//int arg_len;
+	if( n_roi > VL53L1_MAX_USER_ZONES){
+		error("can't set %d roi > %d", (int)n_roi, VL53L1_MAX_USER_ZONES);
+		return -1;
+	}
+	ioctl_roi.is_read = 0;
+	ioctl_roi.roi_cfg.NumberOfRoi = n_roi;
+	if( n_roi ){
+		memcpy( ioctl_roi.roi_cfg.UserRois, roi, sizeof(VL53L1_UserRoi_t)*n_roi);
+	}
+	rc= ioctl(fd, VL53L1_IOCTL_ROI, &ioctl_roi);
+	if( rc != 0){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_set_roi( int fd, VL53L1_UserRoi_t *roi, uint32_t n_roi)
+{
+	return is_sysfs ? stmvl53l1_set_roi_sysfs(roi, n_roi)
+		: stmvl53l1_set_roi_ioctl(fd, roi, n_roi);
+}
+
+int stmvl53l1_perform_calibration(int fd, uint32_t calibration_type, uint32_t param1, uint32_t param2, uint32_t param3)
+{
+	int rc;
+	struct stmvl53l1_ioctl_perform_calibration_t ioctl_cal = {calibration_type, param1, param2, param3};
+
+	rc = ioctl(fd, VL53L1_IOCTL_PERFORM_CALIBRATION, &ioctl_cal);
+	if( rc != 0)
+		ioctl_error("%d %s", rc, strerror(errno));
+
+	return rc;
+}
+
+int stmvl53l1_calibration_data(int fd, struct stmvl53l1_ioctl_calibration_data_t *cal)
+{
+	int rc;
+
+	rc = ioctl(fd, VL53L1_IOCTL_CALIBRATION_DATA, cal);
+	if( rc != 0)
+		ioctl_error("%d %s", rc, strerror(errno));
+
+    return rc;
+}
+
+int stmvl53l1_zone_calibration_data(int fd, struct stmvl53l1_ioctl_zone_calibration_data_t *cal)
+{
+	int rc;
+
+	rc = ioctl(fd, VL53L1_IOCTL_ZONE_CALIBRATION_DATA, cal);
+	if( rc != 0)
+		ioctl_error("%d %s", rc, strerror(errno));
+
+	return rc;
+}
+
+static int stmvl53l1_set_dmax_reflectance_sysfs(float reflectance)
+{
+	return stmvl53l1_sysfs_write_float("dmax_reflectance", reflectance);
+}
+
+static int stmvl53l1_set_dmax_reflectance_ioctl(int fd, float reflectance)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 0;
+	params.name = VL53L1_DMAXREFLECTANCE_PAR;
+	params.value = auto_float_to_16x16(reflectance);
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("ebusy can't set now");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int stmvl53l1_set_dmax_reflectance(int fd, float reflectance)
+{
+	return is_sysfs ? stmvl53l1_set_dmax_reflectance_sysfs(reflectance)
+		: stmvl53l1_set_dmax_reflectance_ioctl(fd, reflectance);
+}
+
+
+static int stmvl53l1_get_dmax_reflectance_sysfs(float *reflectance)
+{
+	return stmvl53l1_sysfs_read_float("dmax_reflectance", reflectance);
+}
+
+static int stmvl53l1_get_dmax_reflectance_ioctl(int fd, float *reflectance)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = VL53L1_DMAXREFLECTANCE_PAR;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		// sucessfull ioctl check status
+		rc = params.status ;
+		if( rc == 0 ) {
+			*reflectance  = auto_16x16_to_float(params.value);
+		}
+	}
+	return rc;
+}
+
+int stmvl53l1_get_dmax_reflectance(int fd, float *reflectance)
+{
+	return is_sysfs ? stmvl53l1_get_dmax_reflectance_sysfs(reflectance)
+		: stmvl53l1_get_dmax_reflectance_ioctl(fd, reflectance);
+}
+
+static int stmvl53l1_get_optical_center_sysfs(float *x, float *y)
+{
+	return stmvl53l1_sysfs_read_two_float("optical_center", x, y);
+}
+
+static int stmvl53l1_get_optical_center_ioctl(int fd, float *x, float *y)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 1;
+	params.name = VL53L1_OPTICALCENTER_PAR;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		// sucessfull ioctl check status
+		rc = params.status ;
+		if( rc == 0 ){
+			*x  = auto_16x16_to_float(params.value);
+			*y  = auto_16x16_to_float(params.value2);
+		}
+	}
+	return rc;
+}
+
+int stmvl53l1_get_optical_center(int fd, float *x, float *y)
+{
+	return is_sysfs ? stmvl53l1_get_optical_center_sysfs(x, y)
+		: stmvl53l1_get_optical_center_ioctl(fd, x, y);
+}
+
+static char *auto_detectionmode_2_str(VL53L1_DetectionMode DetectionMode)
+{
+	switch(DetectionMode) {
+		case VL53L1_DETECTION_NORMAL_RUN:
+			return "normal";
+		case VL53L1_DETECTION_DISTANCE_ONLY:
+			return "distance only";
+		case VL53L1_DETECTION_RATE_ONLY:
+			return "rate only";
+		case VL53L1_DETECTION_DISTANCE_AND_RATE:
+			return "distance and rate";
+		case VL53L1_DETECTION_DISTANCE_OR_RATE:
+			return "distance or rate";
+	}
+
+	return "unknown";
+}
+
+static char *auto_crossmode_2_str(VL53L1_ThresholdMode CrossMode)
+{
+	switch(CrossMode) {
+		case VL53L1_THRESHOLD_CROSSED_LOW:
+			return "low";
+		case VL53L1_THRESHOLD_CROSSED_HIGH:
+			return "high";
+		case VL53L1_THRESHOLD_OUT_OF_WINDOW:
+			return "out of window";
+		case VL53L1_THRESHOLD_IN_WINDOW:
+			return "in window";
+	}
+
+	return "unknown";
+}
+
+static void display_auto_config_raw(struct stmvl53l1_autonomous_config_t *full)
+{
+	printf("%d %d %d ", full->pollingTimeInMs, full->config.DetectionMode, full->config.IntrNoTarget);
+	printf("%d %d %d ", full->config.Distance.CrossMode, full->config.Distance.High, full->config.Distance.Low);
+	printf("%d %f %f ", full->config.Rate.CrossMode, auto_16x16_to_float(full->config.Rate.High), auto_16x16_to_float(full->config.Rate.Low));
+	printf("\n");
+}
+
+static void display_auto_config_cook(struct stmvl53l1_autonomous_config_t *full)
+{
+	printf("- pollingTimeInMs = %d ms\n", full->pollingTimeInMs);
+	printf("- config\n");
+	printf(" - DetectionMode = %s\n", auto_detectionmode_2_str(full->config.DetectionMode));
+	printf(" - IntrNoTarget = %d\n", full->config.IntrNoTarget);
+	printf(" - Distance\n");
+	printf("  - CrossMode = %s\n", auto_crossmode_2_str(full->config.Distance.CrossMode));
+	printf("  - High = %5d mm\n", full->config.Distance.High);
+	printf("  - Low  = %5d mm\n", full->config.Distance.Low);
+	printf(" - Rate\n");
+	printf("  - CrossMode = %s\n", auto_crossmode_2_str(full->config.Rate.CrossMode));
+	printf("  - High = %f\n", auto_16x16_to_float(full->config.Rate.High));
+	printf("  - Low  = %f\n", auto_16x16_to_float(full->config.Rate.Low));
+}
+
+static int parse_auto_config(char *buffer, struct stmvl53l1_autonomous_config_t *full)
+{
+	int n;
+	float high, low;
+	int DetectionMode;
+	int IntrNoTarget;
+	int DistanceCrossMode;
+	int DistanceHigh;
+	int DistanceLow;
+	int RateCrossMode;
+
+	n = sscanf(buffer, "%d %d %d %d %d %d %d %f %f",
+		&full->pollingTimeInMs,
+		&DetectionMode,
+		&IntrNoTarget,
+		&DistanceCrossMode,
+		&DistanceHigh,
+		&DistanceLow,
+		&RateCrossMode,
+		&high,
+		&low);
+	full->config.Rate.High = auto_float_to_16x16(high);
+	full->config.Rate.Low  = auto_float_to_16x16(low);
+	full->config.DetectionMode = DetectionMode;
+	full->config.IntrNoTarget = IntrNoTarget;
+	full->config.Distance.CrossMode = DistanceCrossMode;
+	full->config.Distance.High = DistanceHigh;
+	full->config.Distance.Low = DistanceLow;
+	full->config.Rate.CrossMode = RateCrossMode;
+
+	if (n != 9)
+		return -1;
+
+	return 0;
+}
+
+static int stmvl53l1_set_auto_config_sysfs(char *buffer)
+{
+	return stmvl53l1_sysfs_write_string("autonomous_config", buffer);
+}
+
+static int stmvl53l1_set_auto_config_ioctl(int fd, char *buffer)
+{
+	int rc;
+	struct stmvl53l1_autonomous_config_t full;
+
+	rc = parse_auto_config(buffer, &full);
+	if (rc) {
+		error("unable to parse\n");
+		return rc;
+	}
+
+	full.is_read = 0;
+	rc = ioctl(fd, VL53L1_IOCTL_AUTONOMOUS_CONFIG, &full);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+
+	return rc;
+}
+
+int stmvl53l1_set_auto_config(int fd, char *buffer)
+{
+	return is_sysfs ? stmvl53l1_set_auto_config_sysfs(buffer)
+		: stmvl53l1_set_auto_config_ioctl(fd, buffer);
+}
+
+static int stmvl53l1_get_auto_config_sysfs(void)
+{
+	int rc;
+	char b[SYSFS_MAX_LEN];
+	struct stmvl53l1_autonomous_config_t full;
+	float high, low;
+	int DetectionMode;
+	int IntrNoTarget;
+	int DistanceCrossMode;
+	int DistanceHigh;
+	int DistanceLow;
+	int RateCrossMode;
+
+	rc = stmvl53l1_sysfs_read_string("autonomous_config", b);
+	if (rc < 0)
+		return rc;
+
+	rc = sscanf(b, "%d %d %d %d %d %d %d %f %f",
+		&full.pollingTimeInMs,
+		&DetectionMode,
+		&IntrNoTarget,
+		&DistanceCrossMode,
+		&DistanceHigh,
+		&DistanceLow,
+		&RateCrossMode,
+		&high,
+		&low);
+	if (rc != 9)
+		return -1;
+
+	full.config.Rate.High = auto_float_to_16x16(high);
+	full.config.Rate.Low = auto_float_to_16x16(low);
+	full.config.DetectionMode = DetectionMode;
+	full.config.IntrNoTarget = IntrNoTarget;
+	full.config.Distance.CrossMode = DistanceCrossMode;
+	full.config.Distance.High = DistanceHigh;
+	full.config.Distance.Low = DistanceLow;
+	full.config.Rate.CrossMode = RateCrossMode;
+	display_auto_config_raw(&full);
+	display_auto_config_cook(&full);
+
+	return 0;
+}
+
+static int stmvl53l1_get_auto_config_ioctl(int fd)
+{
+	int rc;
+	struct stmvl53l1_autonomous_config_t full;
+
+	full.is_read = 1;
+	rc = ioctl(fd, VL53L1_IOCTL_AUTONOMOUS_CONFIG, &full);
+	if( rc ){
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	else{
+		/* display config */
+		display_auto_config_raw(&full);
+		display_auto_config_cook(&full);
+	}
+
+	return rc;
+}
+
+int stmvl53l1_get_auto_config(int fd)
+{
+	return is_sysfs ? stmvl53l1_get_auto_config_sysfs()
+		: stmvl53l1_get_auto_config_ioctl(fd);
+}
+
+int test_check=0;
+int test_n_err=0;
+#define tfail( cond, msg, ...)\
+	do{\
+		test_check++;\
+		if( cond ) {\
+			printf("ERR %s line %d\t" msg "\n", __func__, __LINE__, ##__VA_ARGS__);\
+			test_n_err++;\
+		}\
+	}while(0)
+
+#define t_status(msg, ...)\
+	do{\
+		printf("STAT %s\t %d err out of %d " msg "\n", __func__, test_n_err, test_check, ##__VA_ARGS__ );\
+	}while(0)
+
+
+
+static void help(int do_exit)
+{
+	fprintf(stderr,	"Usage: phio <option1> <option2> ....\n"
+			"\t[-d --dev dev_no]\t dev_no shall be set at first arg\n"
+			"\t[-m --mode[=set_mode ]] set/get ranging mode\n"
+				"\t\t mode value  1 = standard, 2 =  multi zone , 3 = autonomous, 4 = lite ranging\n"
+			"\t[-M --Meas[=no_of_meas]] get [no_of_meas] sample measurement\n"
+			"\t[-o --roi_get no_of_roi  get up to no_of_roi\n"
+			"\t[-O --roi_set[\"x0 y0 x1 y1[,[x y x y]up to 15x]]\" set rois \n\tno arg will unset roi\n"
+				"\t\tbe aware of the xy system\n"
+			"\t[-p[=time ms] get device poll delay [-p=xxxx] set poll delay to xxx ms\n"
+				"\t\t use -P for internal ioctl polling delay\n"
+			"\t[-P --Pause time_ms]\t set test loop/poll pause time_ms in milli sec\n"
+			"\t[-r[=no_of_call] --range [no_of_call]] get range data (raw) repeat no_of_call time (override TBD)\n"
+			"\t-s --start start ranging\n"
+			"\t-S --stop  stop ranging\n"
+			"\t-t [=time_us] get timing budget [=set it]\n"
+			"\t-z [=no_of_call] get multi zone data\n"
+			"\t-Z no_of_range  poll multi zone ranging \n"
+			"\t-Q \"no_of_range distance_mode_enable HALI HALH MALI MALH timing_budget_enable SignalLow SignalHigh\"  poll histogram ranging with distance mode and/or timing budget auto adjustment \n"
+			"\t-R --Ref_spad perform reference spad calibration \n"
+			"\t-X --Xtalk <method> perform crosstalk calibration using method \n"
+			"\t-F --oFfset <\"mode distance reflectance\"> perform offset calibration of type mode with target at given distance in mm and with given reflectance in percent\n"
+			"\t-c --cal <file> get calibration data and write them in given file name\n"
+			"\t-C --Cal <file> set calibrating data by reading given file name\n"
+			"\t-D --Distance[=distance_mode] set/get distance mode\n"
+				"\t\t distance value 1 = short, 2 = medium, 3 = long\n"
+			"\t-E --xtalk_Enable[=<0/1>] set/get crosstalk compensation enable\n"
+			"\t-U --oUtput[=output_mode] set/get output mode\n"
+				"\t\t output mode value 1 = nearest, 2 = strongest\n"
+			"\t-f --force[=<0/1>] set/get force device on enable\n"
+			"\t-a --auto=[\"poll_ms mode no_target_irq distance_mode distance_low distance_high rate_mode rate_low rate_high\"] set/get autonomous configuration\n"
+			"\t-y --sysfs_on turn on sysfs usage instead of ioctl\n"
+			"\t-Y --sysfs_off turn off sysfs usage instead of ioctl\n"
+			"\t-T  --offseT_correction_mode[=offset_correction_mode] set/get offset correction mode\n"
+				"\t\t offset correction mode value 1 = standard, 2 = per zone\n"
+			"\t-I  --optical_center get optical center offset in roi coordinate\n"
+			"\t-A  --dmax_reflectance[=reflectance] set/get reflectance used for dmax calculation in percent\n"
+			"\t-B  --dmax_mode[=dmax_mode] set/get dmax mode\n"
+			"\t-w --wcal <file> get zone calibration data and write them in given file name\n"
+			"\t-W --Wcal <file> set zone calibrating data by reading given file name\n"
+			"\t-N --tuNing=\"<key> <value>\" set low level layer parameter with key to given value\n"
+			"\t-g --tunings <file> get tunings values and write them in given file name\n"
+			"\t-G --tuninGs <file> set tunings values by reading given file name\n"
+			"\t-h --smudge[=smudge_mode] set/get smudge correction mode\n"
+			"\t\t smudge_mode value  0 = disable, 1 =  continuous , 2 = single, 3 = debug\n"
+			"\t-l --transform calibration data from bin to text\n"
+			"\t-L --transform calibration data from text to bin\n"
+			/* These two options are not documented since it should not be used
+			"\t-j [=no_of_call] get multi zone data with additional data\n"
+			"\t-J no_of_range  poll multi zone ranging  with additional data\n"
+			*/
+			);
+
+	fprintf(stderr, "\nExamples:\n"
+					" - get current timing budget value\n"
+					"\t ./phio -t\n"
+					" - take 10 measures in ranging mode\n"
+					"\t ./phio -O -m=1 -s -Z=10 -S\n"
+					" - take 10 measures in multi zone mode with 4 zones\n"
+					"\t ./phio -O=\"0 15 7 8, 8 15 15 8, 0 7 7 0, 8 7 15 0\" -m=2 -s -Z=10 -S\n"
+					" - take 10 measures in lite ranging at 10 Hz and restore 60hz\n"
+					"\t ./phio -t=100000 -O -m=4 -s -M=10 -S -t=16000\n");
+
+
+	if( do_exit){
+		exit(do_exit);
+	}
+}
+
+
+int dev_no=0;
+char dev_fi_name[256];
+int dev_fd=-1;
+int run_loops=1; // run cmd only this numebr of time defautl to run once
+int run_poll_ms=0;
+
+stmvl531_range_data_t dev_1xrange_data; /* last read */
+VL53L1_MultiRangingData_t dev_mz_range_data;
+struct stmvl53l1_data_with_additional dev_mz_range_data_additional;
+
+//struct stmvl53l1_roi_full_t dev_rois;
+VL53L1_UserRoi_t dev_rois[VL53L1_MAX_USER_ZONES];
+/**
+ * cmd line option
+ * @warning keep in synch with @a string_options
+ */
+static struct option long_options[] =
+{
+	{"calbin2txt",       required_argument, 0,  'l'},
+	{"caltxt2bin",       required_argument, 0,  'L'},
+	{"dev",       required_argument, 0,  'd'},
+	{"help",      no_argument,	 0 , '?'},
+	{"mode",      optional_argument, 0 , 'm'},
+	{"Meas",      optional_argument, 0 , 'M'},
+	{"roi_get",   required_argument, 0 , 'o'},
+	{"rOi_set",   optional_argument, 0 , 'O'},
+	{"Poll",      required_argument, 0 , 'P'}, // program poll
+	{"range",     optional_argument, 0 , 'r'},
+	{"start",     no_argument,	 0 , 's'},
+	{"stop",      no_argument,	 0 , 'S'},
+	{"zone",      optional_argument, 0 , 'z'},
+	{"Zone",      required_argument, 0 , 'Z'},
+	{"Quality Zone",      required_argument, 0 , 'Q'},
+	{"Ref_spad",  no_argument,       0 , 'R'},
+	{"Xtalk",     required_argument, 0 , 'X'},
+	{"oFfset",    required_argument, 0 , 'F'},
+	{"cal",       required_argument, 0 , 'c'},
+	{"Cal",       required_argument, 0 , 'C'},
+	{"Distance",  optional_argument, 0 , 'D'},
+	{"xtalk_Enable", optional_argument, 0, 'E'},
+	{"oUtput",    optional_argument, 0 , 'U'},
+	{"force",     optional_argument, 0, 'f'},
+	{"auto",      optional_argument, 0, 'a'},
+	{"sysfs_on",  no_argument,	 0 , 'y'},
+	{"sysfs_off",  no_argument,	 0 , 'Y'},
+	{"offseT_correction_mode",  optional_argument,	 0 , 'T'},
+	{"optIcal_center",	no_argument,	0, 'I'},
+	{"dmax_reflectance",	optional_argument, 	0, 'A'},
+	{"dmax_mode",	optional_argument, 	0, 'B'},
+	{"wcal",      required_argument, 0 , 'w'},
+	{"Wcal",      required_argument, 0 , 'W'},
+	{"tuNing",    required_argument, 0 , 'N'},
+	{"tunings",   required_argument, 0 , 'g'},
+	{"tuninGs",   required_argument, 0 , 'G'},
+	{"smudge",    required_argument, 0 , 'h'},
+	{"zone_additional", optional_argument, 0 , 'j'},
+	{"Zone_additional", required_argument, 0 , 'J'},
+	{"run_test_config", required_argument, 0 , 'H'},
+	/* must be last since then long options are no more detected */
+	{NULL,        optional_argument, 0 , 't'}, //timing budget
+	{NULL,        optional_argument, 0 , 'p'}, // device poll delay
+	//last
+	{0, 0, 0, 0}
+};
+/**
+ * cmd line option string keep in sync with @a long_options
+ * sythax is
+ * 	'x' => no arg option for   case 0:
+ *	"x:" => required arg for shorft opt char  x
+ * *	"x::" => optional arg for short opt char  x
+ */
+char string_options[]="L:l:d:?m::M::o:O::p::P:Q:r::sSt::z::Z:RX:F:c:C:D::E::U::f::a::yYT::IA::B::w:W:N:g:G:h::j::J:H:";
+
+void set_dev_name(void){
+	if( dev_no == 0 ){
+		strcpy(dev_fi_name, "/dev/" VL53L1_MISC_DEV_NAME);
+	}else{
+		snprintf(dev_fi_name, sizeof(dev_fi_name), "%s%d","/dev/" VL53L1_MISC_DEV_NAME, dev_no);
+	}
+}
+
+void set_new_device(int no) {
+	if( dev_fd>0 ){
+		verbose("closing %s", dev_fi_name);
+		close(dev_fd);
+		dev_fd=-1;
+	}
+	//will be reopen when needed
+	dev_no=no;
+	set_dev_name();
+	verbose("to use dev %d %s", dev_no, dev_fi_name);
+}
+
+
+
+/**
+ * open the currently set device dev no / dev_name if needed
+ *  it exit if that fail
+ *
+ * does nothing if dev already open (will nto check if dev no did chaneg etc .)
+ * @note to changed use @a set_new_device that will take care of closing existing one and set dev name
+ */
+void open_dev_or_die(){
+	// open if not yet open
+	if( dev_fd<0 ){
+		set_dev_name();//ensure device name  match current dev no
+		dev_fd = open(dev_fi_name ,O_RDWR );
+		verbose("open fd %d for %s", dev_fd, dev_fi_name);
+		if (dev_fd < 0) {
+			error("open of %s", dev_fi_name);
+			exit(1);
+		}
+	}else{
+		verbose("keep using fd %d", dev_fd);
+	}
+
+}
+
+
+
+void print_1xdata(FILE * fi, stmvl531_range_data_t *range_data){
+	fprintf(fi, "cnt %4d st %d\t"
+		"d=%4dmm\t"
+		"min/max=%4d/%4d\t"
+		"dmax=%d\t"
+		"qual=%3d\t"
+		"spdcnt=%d\t"
+		"sigma=%3d.%02d\t"
+		"rate=%5d.%02d/%5d.%02d"
+		"\n",
+		(int)range_data->StreamCount, (int)range_data->RangeStatus,
+		(int)range_data->RangeMilliMeter, 0, 0, 0,
+//		(int)range_data->RangeMinMilliMeter,
+//		(int)range_data->RangeMaxMilliMeter,
+//		(int)range_data->DmaxMilliMeter,
+		(int)range_data->RangeQualityLevel,
+		(int)range_data->EffectiveSpadRtnCount / 256,
+		(int)range_data->SigmaMilliMeter >> 16,
+		(int)((range_data->SigmaMilliMeter & 0xffff) * 100) >> 16,
+		(int)range_data->SignalRateRtnMegaCps >> 16,
+		(int)((range_data->SignalRateRtnMegaCps & 0xffff) * 100) >> 16,
+		(int)range_data->AmbientRateRtnMegaCps >> 16,
+		(int)((range_data->AmbientRateRtnMegaCps & 0xffff) * 100) >> 16
+		);
+}
+
+void print_target1xdata(FILE * fi, VL53L1_TargetRangeData_t *range_data){
+	if (range_data->RangeStatus == VL53L1_RANGESTATUS_NONE)
+		fprintf(fi, "*NOTARGET* ");
+	fprintf(fi, "st %4d\t"
+		"d=%4dmm\t"
+		"min/max=%4d/%4d\t"
+		"qual=%3d ER=%1d\t"
+		"sigma=%3d.%02d\t"
+		"rate=%5d.%02d/%5d.%02d"
+		"\n",
+		(int)range_data->RangeStatus,
+		(int)range_data->RangeMilliMeter,
+		(int)range_data->RangeMinMilliMeter,
+		(int)range_data->RangeMaxMilliMeter,
+		(int)range_data->RangeQualityLevel,
+		(int)range_data->ExtendedRange,
+		(int)range_data->SigmaMilliMeter >> 16,
+		(int)((range_data->SigmaMilliMeter & 0xffff) * 100) >> 16,
+		(int)range_data->SignalRateRtnMegaCps >> 16,
+		(int)((range_data->SignalRateRtnMegaCps & 0xffff) * 100) >> 16,
+		(int)range_data->AmbientRateRtnMegaCps >> 16,
+		(int)((range_data->AmbientRateRtnMegaCps & 0xffff) * 100) >> 16
+		);
+}
+
+void print_target1xdata_avg(FILE * fi, VL53L1_TargetRangeData_t *range_data,
+		int16_t AvgRangeMilliMeter,	uint8_t ConfLevel){
+	if (range_data->RangeStatus == VL53L1_RANGESTATUS_NONE)
+		fprintf(fi, "*NOTARGET* ");
+	fprintf(fi, "st %4d\t"
+		"avgd=%4dmm conflevel %d\t"
+		"d=%4dmm "
+		"min/max=%4d/%4d\t"
+		"sigma=%3d.%02d\t"
+		"rate=%5d.%02d/%5d.%02d"
+		"\n",
+		(int)range_data->RangeStatus,
+		AvgRangeMilliMeter, ConfLevel,
+		(int)range_data->RangeMilliMeter,
+		(int)range_data->RangeMinMilliMeter,
+		(int)range_data->RangeMaxMilliMeter,
+		(int)range_data->SigmaMilliMeter >> 16,
+		(int)((range_data->SigmaMilliMeter & 0xffff) * 100) >> 16,
+		(int)range_data->SignalRateRtnMegaCps >> 16,
+		(int)((range_data->SignalRateRtnMegaCps & 0xffff) * 100) >> 16,
+		(int)range_data->AmbientRateRtnMegaCps >> 16,
+		(int)((range_data->AmbientRateRtnMegaCps & 0xffff) * 100) >> 16
+		);
+}
+
+static char *roiStatus2string(VL53L1_RoiStatus st)
+{
+	char *msgs[] = {"is invalid roi", "is not last roi", "is last roi"};
+
+	return msgs[st];
+}
+
+void print_mz_data(FILE *fi, VL53L1_MultiRangingData_t *data ){
+	int max_obj, obj;
+	fprintf(fi, "range ts %8u\t"
+			"\troi %2d %s (%d)%s"
+			" StreamCount(%d), SpadCount(%.2f), Dmax=(%d)"
+			"\n",
+			(int)data->TimeStamp,
+			data->RoiNumber, roiStatus2string(data->RoiStatus), data->RoiStatus,
+			data->HasXtalkValueChanged ? " XTALK UPDATE" : "",
+			data->StreamCount,
+			data->EffectiveSpadRtnCount/256.0,
+			data->DmaxMilliMeter);
+
+	max_obj = MIN(VL53L1_MAX_RANGE_RESULTS, data->NumberOfObjectsFound);
+	// allow to report ambient rate even when no target detected
+	max_obj = MAX(max_obj, 1);
+	for(obj=0; obj < max_obj; obj++) {
+		fprintf(fi, " - [%d]\t", obj);
+		print_target1xdata(fi, &data->RangeData[obj]);
+	}
+}
+
+void print_mz_data_avg(FILE *fi, VL53L1_MultiRangingData_t *data,
+		int16_t avg, uint8_t conf){
+
+	print_target1xdata_avg(fi, &data->RangeData[0], avg, conf);
+}
+
+void print_mz_data_additional(FILE *fi, VL53L1_AdditionalData_t *data)
+{
+	int i;
+
+	fprintf(fi, " - DBG: ");
+	for (i = 0; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH; ++i)
+		fprintf(fi, "[%3d %5d]%c", data->VL53L1_p_010.bin_seq[i], data->VL53L1_p_010.bin_data[i], i + 1 == VL53L1_MAX_BIN_SEQUENCE_LENGTH ? '\n' : ' ');
+}
+
+void dev_print_mz_data(){
+	print_mz_data(stdout, &dev_mz_range_data);
+}
+
+void dev_print_mz_data_additional(){
+	print_mz_data(stdout, &dev_mz_range_data_additional.data);
+	print_mz_data_additional(stdout, &dev_mz_range_data_additional.additional_data);
+}
+
+void dev_print_1xdata(){
+
+	print_1xdata(stdout, &dev_1xrange_data);
+}
+
+int run_meas_loop(int n_loops)
+{
+	int rc = 0;
+	int i;
+	uint32_t prev_ts = -1;
+
+	if (is_sysfs) {
+		rc = open_input_subsystem();
+		if (rc < 0)
+			return rc;
+	}
+	for(i=0; i< n_loops; i++) {
+		rc = stmvl53l1_get_data_blocking(dev_fd, &dev_1xrange_data);
+		if (rc != 0) {
+			error("loop #%d fail to get data code=%d",i, rc);
+			break;
+		}
+		printf("#%c%5d dts=%8d\t", is_sysfs ? 'S' : 'I' ,i, i==0 ? 0 : dev_1xrange_data.TimeStamp - prev_ts);
+		dev_print_1xdata();
+		prev_ts = dev_1xrange_data.TimeStamp;
+	}
+	if (is_sysfs)
+		close_input_subsystem();
+
+	return rc;
+}
+
+#define roi_fprintf fprintf
+
+void dump_roi(FILE * fi, VL53L1_UserRoi_t *rois, uint32_t n ){
+	uint32_t i;
+	for( i = 0; i< n ; i++){
+		roi_fprintf(fi, "ROI#%02d %2d %2d %2d %2d\n", (int)i,
+				(int)rois[i].TopLeftX, (int)rois[i].TopLeftY,
+				(int)rois[i].BotRightX, (int)rois[i].BotRightY);
+	}
+}
+
+/**
+ * parse rois string
+ *
+ *  roi string in format "tlx tly br bry [,tlx tly br bry]*up_to_15x"
+ *
+ *  @warning parser is very simple rely on exact syntax it will not track extra token after valeu and ,
+ *
+ * @param buff string to parse empy string is valdi no roi
+ * @param rois data (VL53L1_MAX_USER_ZONES length)  it may be partially set on error
+ * @param p_n_roi [out] not set in error
+ * @return >=0  valid parsing and nof of \n
+ * <0 parse error p_n_roi indicates last valid parsed adn stored roi
+ */
+int parse_roi_arg(const char *buff, VL53L1_UserRoi_t *rois, uint32_t *p_n_roi){
+	int n_roi=0;
+	int n;
+	const char *pc=buff;
+	int tlx, tly, brx, bry;
+	while(	n_roi < VL53L1_MAX_USER_ZONES && pc!=NULL && *pc != 0)
+	{
+		n= sscanf(pc, "%d %d %d %d", &tlx, &tly, &brx, &bry);
+		if( n == 4 ){
+			rois[n_roi].TopLeftX = tlx;
+			rois[n_roi].TopLeftY = tly;
+			rois[n_roi].BotRightX = brx;
+			rois[n_roi].BotRightY = bry;
+			n_roi++;
+		}
+		else{
+			error("wrong roi syntax around %s of %s", pc, buff);
+			*p_n_roi= n_roi;
+			return -1;
+		}
+		// find next roi
+		pc = strchr(pc, ',');
+		if( pc ){
+			pc++;
+		}
+	}
+	*p_n_roi= n_roi;
+	return n_roi;
+}
+
+int run_zone_loop(int n_loops)
+{
+	int i;
+	int rc = 0;
+	uint32_t cur_ts;
+	uint32_t prev_ts = -1;
+	struct stmvl53l1_ioctl_calibration_data_t cal;
+
+	if (is_sysfs) {
+		rc = open_input_subsystem();
+		if (rc < 0)
+			return rc;
+	}
+	for(i=0; i< n_loops; i++) {
+		rc = stmvl53l1_get_mz_data_blocking(dev_fd, &dev_mz_range_data);
+		if(rc != 0) {
+			error("loop #%d fail to get data code=%d", i, rc);
+			break;
+		}
+		cal.is_read = 1;
+		rc = stmvl53l1_calibration_data(dev_fd, &cal);
+		cur_ts = dev_mz_range_data.TimeStamp;
+		printf("#%c%5d dts=%8d, crosstalk_offset_kcps = %d\t", is_sysfs ? 'S' : 'I',i, i==0 ? 0 : cur_ts - prev_ts, cal.data.customer.algo__crosstalk_compensation_plane_offset_kcps);
+		dev_print_mz_data();
+		prev_ts = cur_ts;
+	}
+	if (is_sysfs)
+		close_input_subsystem();
+
+	return rc;
+}
+
+static int parse_ranging_data_process(char *buffer, uint32_t *loops,
+		struct RangingDataProcess_t *RD)
+{
+	int n;
+	int DMSwitch;
+	int TBSwitch;
+	float HALH, HALI, MALH, MALI;
+	float SigLo, SigHi;
+
+	n = sscanf(buffer, "%d %d %f %f %f %f %d %f %f",
+		loops,
+		&DMSwitch, &HALH, &HALI, &MALH, &MALI,
+		&TBSwitch, &SigLo, &SigHi);
+	RD->EnableDistanceModeSwitch = DMSwitch;
+	RD->HALH = auto_float_to_16x16(HALH);
+	RD->HALI = auto_float_to_16x16(HALI);
+	RD->MALH = auto_float_to_16x16(MALH);
+	RD->MALI = auto_float_to_16x16(MALI);
+	RD->EnableTimingBudgetSwitch = TBSwitch;
+	RD->SignalThreshold1 = auto_float_to_16x16(SigLo);
+	RD->SignalThreshold1 = auto_float_to_16x16(SigHi);
+
+	if (n != 9)
+		return -1;
+
+	return 0;
+}
+
+int run_zone_loop_ranging_data_process(int n_loops,
+		struct RangingDataProcess_t *RangingData)
+{
+	int i;
+	int rc = 0;
+	int16_t AvgRangeMilliMeter;
+	uint8_t ConfLevel;
+	uint32_t CurrentTM, PreviousTM;
+	uint32_t CurrentDM, PreviousDM;
+
+	if (is_sysfs) {
+		rc = open_input_subsystem();
+		if (rc < 0)
+			return rc;
+	}
+
+	rc = InitRangingDataProcess(dev_fd, RangingData);
+
+	for(i=0; i< n_loops; i++) {
+		rc = stmvl53l1_get_mz_data_blocking(dev_fd, &dev_mz_range_data);
+		if(rc != 0) {
+			error("loop #%d fail to get data code=%d", i, rc);
+			break;
+		}
+		stmvl53l1_get_distance_mode(dev_fd, &PreviousDM);
+		stmvl53l1_get_timing_budget(dev_fd, &PreviousTM);
+		RangingDataProcess(dev_fd,
+				RangingData,
+				&dev_mz_range_data,
+				&AvgRangeMilliMeter,
+				&ConfLevel);
+		stmvl53l1_get_distance_mode(dev_fd, &CurrentDM);
+		stmvl53l1_get_timing_budget(dev_fd, &CurrentTM);
+		if (CurrentDM != PreviousDM)
+			printf("Distance Mode changed from %d to %d\n", PreviousDM, CurrentDM);
+		if (CurrentTM != PreviousTM)
+			printf("TimingBudget changed from %d to %d\n", PreviousTM, CurrentTM);
+		printf("DM %1d TB %5d ", CurrentDM, CurrentTM);
+		print_mz_data_avg(stdout, &dev_mz_range_data,
+				AvgRangeMilliMeter, ConfLevel);
+	}
+	if (is_sysfs)
+		close_input_subsystem();
+
+	return rc;
+}
+
+int run_zone_loop_additional(int n_loops)
+{
+	int i;
+	int rc = 0;
+	uint32_t cur_ts;
+	uint32_t prev_ts = -1;
+
+	for(i=0; i< n_loops; i++) {
+		rc = stmvl53l1_get_mz_data_blocking_additional(dev_fd, &dev_mz_range_data_additional);
+		if(rc != 0) {
+			error("loop #%d fail to get data code=%d", i, rc);
+			break;
+		}
+		cur_ts = 0;
+		printf("#I%5d dts=%8d\t",i, i==0 ? 0 : cur_ts - prev_ts);
+		dev_print_mz_data_additional();
+		prev_ts = cur_ts;
+	}
+
+	return rc;
+}
+
+int perform_ref_spad_calibration()
+{
+	return stmvl53l1_perform_calibration(dev_fd, VL53L1_CALIBRATION_REF_SPAD, 0, 0, 0);
+}
+
+int perform_crosstalk_calibration(int method, int mode)
+{
+	return stmvl53l1_perform_calibration(dev_fd, VL53L1_CALIBRATION_CROSSTALK, method, mode, 0);
+}
+
+int perform_offset_calibration(int mode, int distance, float reflectance)
+{
+	uint32_t calibration_type;
+	uint32_t param1;
+	uint32_t param2;
+	uint32_t param3 = auto_float_to_16x16(reflectance);
+
+	/* then mode is the first parameter:
+	 * mode = 1 ==> VL53L1_CALIBRATION_OFFSET
+	 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_STANDARD
+	 * mode = 2 ==> VL53L1_CALIBRATION_OFFSET
+	 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY
+	 * mode = 3 ==> VL53L1_CALIBRATION_OFFSET_PER_ZONE
+	 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE
+	 * mode = 4 ==> VL53L1_CALIBRATION_OFFSET_SIMPLE
+	 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+	 * mode = 5 ==> VL53L1_CALIBRATION_OFFSET_PER_VCSEL
+	 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+	 * mode = 6 ==> VL53L1_CALIBRATION_OFFSET_ZERO_DISTANCE
+	 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+	 * */
+
+	switch (mode) {
+	case 1:
+		calibration_type = VL53L1_CALIBRATION_OFFSET;
+		param1 = VL53L1_OFFSETCALIBRATIONMODE_STANDARD;
+		param2 = distance;
+	break;
+	case 2:
+		calibration_type = VL53L1_CALIBRATION_OFFSET;
+		param1 = VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY;
+		param2 = distance;
+	break;
+	case 3:
+		calibration_type = VL53L1_CALIBRATION_OFFSET_PER_ZONE;
+		param1 = VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE;
+		param2 = distance;
+	break;
+	case 4:
+		calibration_type = VL53L1_CALIBRATION_OFFSET_SIMPLE;
+		param1 = distance;
+		param2 = 0;
+	break;
+	case 5:
+		calibration_type = VL53L1_CALIBRATION_OFFSET_PER_VCSEL;
+		param1 = distance;
+		param2 = 0;
+	break;
+	case 6:
+		calibration_type = VL53L1_CALIBRATION_OFFSET_ZERO_DISTANCE;
+		param1 = 0;
+		param2 = 0;
+	break;
+	default:
+		printf("Unknown option uses option 4 as default\n");
+		calibration_type = VL53L1_CALIBRATION_OFFSET_SIMPLE;
+		param1 = distance;
+		param2 = 0;
+	}
+
+	return stmvl53l1_perform_calibration(dev_fd, calibration_type,
+			param1, param2, param3);
+}
+
+static int get_calibration_data_sysfs(char *name)
+{
+	VL53L1_CalibrationData_t data;
+	int rc;
+
+	rc = stmvl53l1_sysfs_read_binary_data("calibration_data", &data, sizeof(data));
+	if (rc == 0)
+		rc = write_file(name, (void *) &data, sizeof(data));
+
+	return rc;
+}
+
+static int get_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 1;
+	rc = stmvl53l1_calibration_data(dev_fd, &cal);
+	if (rc == 0)
+		rc = write_file(name, (void *) &cal.data, sizeof(cal.data));
+
+	return rc;
+}
+
+int get_calibration_data(char *name)
+{
+	return is_sysfs ? get_calibration_data_sysfs(name) :
+		get_calibration_data_ioctl(name);
+}
+
+static int set_calibration_data_sysfs(char *name)
+{
+	VL53L1_CalibrationData_t data;
+	int rc;
+
+	memset(&data, 0, sizeof(data));
+	rc = read_file(name, (void *) &data, sizeof(data));
+	/* pass old version of calibration to let driver deal with */
+	if ((rc == -1) &&((data.struct_version & 0xFFFF0000) == 0xECAB0000)) {
+		printf("Read old calibration structure 0x%x\nContinue and pass it to the driver\n",data.struct_version);
+		rc = 0;
+	}
+	if (rc == 0)
+		rc = stmvl53l1_sysfs_write_binary_data("calibration_data", &data, sizeof(data));
+
+	return rc;
+}
+
+static int set_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 0;
+	memset(&cal.data, 0, sizeof(cal.data));
+	rc = read_file(name, (void *) &cal.data, sizeof(cal.data));
+	/* pass old version of calibration to let driver deal with */
+		if ((rc == -1) &&((cal.data.struct_version & 0xFFFF0000) == 0xECAB0000)) {
+		printf("Read old calibration structure 0x%x\nContinue and pass it to the driver\n", cal.data.struct_version);
+		rc = 0;
+	}
+	if (rc == 0)
+		rc = stmvl53l1_calibration_data(dev_fd, &cal);
+
+	return rc;
+}
+
+int set_calibration_data(char *name)
+{
+	return is_sysfs ? set_calibration_data_sysfs(name) :
+		set_calibration_data_ioctl(name);
+}
+
+static int get_zone_calibration_data_sysfs(char *name)
+{
+	stmvl531_zone_calibration_data_t data;
+	int rc;
+
+	rc = stmvl53l1_sysfs_read_binary_data("zone_calibration_data", &data, sizeof(data));
+	if (rc == 0)
+		rc = write_file(name, (void *) &data, sizeof(data));
+
+	return rc;
+}
+
+static int get_zone_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_zone_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 1;
+	rc = stmvl53l1_zone_calibration_data(dev_fd, &cal);
+	if (rc == 0)
+		rc = write_file(name, (void *) &cal.data, sizeof(cal.data));
+
+	return rc;
+}
+
+int get_zone_calibration_data(char *name)
+{
+	return is_sysfs ? get_zone_calibration_data_sysfs(name) :
+		get_zone_calibration_data_ioctl(name);
+}
+
+static int set_zone_calibration_data_sysfs(char *name)
+{
+	stmvl531_zone_calibration_data_t data;
+	int rc;
+
+	rc = read_file(name, (void *) &data, sizeof(data));
+	if (rc == 0)
+		rc = stmvl53l1_sysfs_write_binary_data("zone_calibration_data", &data, sizeof(data));
+
+	return rc;
+}
+
+static int set_zone_calibration_data_ioctl(char *name)
+{
+	struct stmvl53l1_ioctl_zone_calibration_data_t cal;
+	int rc;
+
+	cal.is_read = 0;
+	rc = read_file(name, (void *) &cal.data, sizeof(cal.data));
+	if (rc == 0)
+		rc = stmvl53l1_zone_calibration_data(dev_fd, &cal);
+
+	return rc;
+}
+
+int set_zone_calibration_data(char *name)
+{
+	return is_sysfs ? set_zone_calibration_data_sysfs(name) :
+		set_zone_calibration_data_ioctl(name);
+}
+
+static int perform_tuning_sysfs(int key, int value)
+{
+	return stmvl53l1_sysfs_write_two_integer("tuning", key, value);
+}
+
+static int perform_tuning_ioctl(int fd, int key, int value)
+{
+	int rc;
+
+	struct stmvl53l1_parameter params;
+
+	params.is_read = 0;
+	params.name = VL53L1_TUNING_PAR;
+	params.value = key;
+	params.value2 = value;
+
+	rc= ioctl(fd, VL53L1_IOCTL_PARAMETER, &params);
+	if( rc ){
+		if( errno == EBUSY ){
+			ioctl_warn("ebusy can't set now");
+			return errno;
+		}
+		ioctl_error("%d %s", rc,strerror(errno));
+	}
+	return rc;
+}
+
+int perform_tuning(int fd, int key, int value)
+{
+	return is_sysfs ? perform_tuning_sysfs(key, value) :
+		perform_tuning_ioctl(fd, key, value);
+}
+
+int get_tuning(char *name)
+{
+	char buf[SYSFS_MAX_LEN];
+	int rc;
+
+	rc = stmvl53l1_sysfs_read_string("tuning_status", buf);
+	if (rc == 0)
+		rc = write_file(name, buf, strlen(buf));
+
+	return rc;
+}
+
+int set_tuning(char *name)
+{
+	FILE *f;
+	char line[256];
+	int key;
+	int value;
+	int n;
+
+	f = fopen(name, "r");
+	if (!f)
+		return errno;
+
+	while(fgets(line, sizeof(line), f)) {
+		n = sscanf(line, "%d %d", &key, &value);
+		if (n != 2) {
+			break;
+		}
+		perform_tuning(dev_fd, key, value);
+		/* don't test perform_tuning and go on because some keys (key==32902) are no more tunable in the bare driver */
+	}
+	fclose(f);
+
+	return 0;
+}
+
+/* handler parameter boilerplate */
+#define HANDLE_PARAMETER_INTEGER(sysfs_name, info_name) \
+do { \
+open_dev_or_die(); \
+if (optarg!=NULL) { \
+	if (*optarg== '=') \
+		optarg++; \
+	n = sscanf(optarg,"%d", &u32); \
+	if (n!=1) { \
+		error("invalid " info_name " %s", optarg); \
+		help(-1); \
+	} \
+	rc = stmvl53l1_set_##sysfs_name(dev_fd, u32); \
+	if (rc == 0) \
+		info("set " info_name " %d", u32); \
+} else { \
+	rc = stmvl53l1_get_##sysfs_name(dev_fd, &u32); \
+	if (rc == 0) \
+		info("get " info_name " %d", u32); \
+} \
+} while(0)
+
+
+static int stmvl53l1_prestart_checks()
+{
+	int rc = 0;
+	uint32_t mode, timing_budget, tmin;
+
+	rc = stmvl53l1_get_mode(dev_fd, &mode);
+	if (rc != 0) {
+		printf("stmvl53l1_get_mode() failed %d\n", rc);
+		return rc;
+	}
+
+	rc = stmvl53l1_get_timing_budget(dev_fd, &timing_budget);
+	if (rc != 0) {
+		printf("stmvl53l1_get_timing_budget() failed %d\n", rc);
+		return rc;
+	}
+
+	switch (mode) {
+		case 3 :tmin = MIN_AUTONOMOUS_TIMING_BUDGET;
+			break;
+		case 4 :tmin = MIN_LITE_TIMING_BUDGET;
+			break;
+		case 8 : tmin = MIN_AUTOLOWPOWER_TIMING_BUDGET;
+			break;
+		default: tmin = MIN_DEFAULT_TIMING_BUDGET;
+	}
+
+	if (timing_budget < tmin) {
+		printf("WARNING ! Minimum timing budget for "
+				"mode %d shall be %d ms\n", mode, tmin);
+	}
+
+	return rc;
+}
+
+
+void SD_DumpCalData(VL53L1_CalibrationData_t *pCalData, FILE *f) {
+    fprintf(f,"VL53L1_calibration_data_t {\n");
+    fprintf(f,"struct_version = 0x%x\n", pCalData->struct_version);
+    fprintf(f,"customer.global_config__spad_enables_ref_0 = %d\n", pCalData->customer.global_config__spad_enables_ref_0);
+    fprintf(f,"customer.global_config__spad_enables_ref_1 = %d\n", pCalData->customer.global_config__spad_enables_ref_1);
+    fprintf(f,"customer.global_config__spad_enables_ref_2 = %d\n", pCalData->customer.global_config__spad_enables_ref_2);
+    fprintf(f,"customer.global_config__spad_enables_ref_3 = %d\n", pCalData->customer.global_config__spad_enables_ref_3);
+    fprintf(f,"customer.global_config__spad_enables_ref_4 = %d\n", pCalData->customer.global_config__spad_enables_ref_4);
+    fprintf(f,"customer.global_config__spad_enables_ref_5 = %d\n", pCalData->customer.global_config__spad_enables_ref_5);
+    fprintf(f,"customer.global_config__ref_en_start_select = %d\n", pCalData->customer.global_config__ref_en_start_select);
+    fprintf(f,"customer.ref_spad_man__num_requested_ref_spads = %d\n", pCalData->customer.ref_spad_man__num_requested_ref_spads);
+    fprintf(f,"customer.ref_spad_man__ref_location = %d\n", pCalData->customer.ref_spad_man__ref_location );
+    fprintf(f,"customer.algo__crosstalk_compensation_plane_offset_kcps = %d\n", pCalData->customer.algo__crosstalk_compensation_plane_offset_kcps );
+    fprintf(f,"customer.algo__crosstalk_compensation_x_plane_gradient_kcps = %d\n", pCalData->customer.algo__crosstalk_compensation_x_plane_gradient_kcps );
+    fprintf(f,"customer.algo__crosstalk_compensation_y_plane_gradient_kcps = %d\n", pCalData->customer.algo__crosstalk_compensation_y_plane_gradient_kcps );
+    fprintf(f,"customer.ref_spad_char__total_rate_target_mcps  = %d\n", pCalData->customer.ref_spad_char__total_rate_target_mcps  );
+    fprintf(f,"customer.algo__part_to_part_range_offset_mm = %d\n", pCalData->customer.algo__part_to_part_range_offset_mm );
+    fprintf(f,"customer.mm_config__inner_offset_mm = %d\n", pCalData->customer.mm_config__inner_offset_mm );
+    fprintf(f,"customer.mm_config__outer_offset_mm = %d\n", pCalData->customer.mm_config__outer_offset_mm );
+    fprintf(f,"fmt_dmax_cal.ref__actual_effective_spads = %d\n", pCalData->fmt_dmax_cal.ref__actual_effective_spads );
+    fprintf(f,"fmt_dmax_cal.ref__peak_signal_count_rate_mcps = %d\n", pCalData->fmt_dmax_cal.ref__peak_signal_count_rate_mcps );
+    fprintf(f,"fmt_dmax_cal.ref__distance_mm = %d\n", pCalData->fmt_dmax_cal.ref__distance_mm );
+    fprintf(f,"fmt_dmax_cal.ref_reflectance_pc = %d\n", pCalData->fmt_dmax_cal.ref_reflectance_pc );
+    fprintf(f,"fmt_dmax_cal.coverglass_transmission = %d\n", pCalData->fmt_dmax_cal.coverglass_transmission );
+    fprintf(f,"cust_dmax_cal.ref__actual_effective_spads = %d\n", pCalData->cust_dmax_cal.ref__actual_effective_spads );
+    fprintf(f,"cust_dmax_cal.ref__peak_signal_count_rate_mcps = %d\n", pCalData->cust_dmax_cal.ref__peak_signal_count_rate_mcps );
+    fprintf(f,"cust_dmax_cal.ref__distance_mm = %d\n", pCalData->cust_dmax_cal.ref__distance_mm );
+    fprintf(f,"cust_dmax_cal.ref_reflectance_pc = %d\n", pCalData->cust_dmax_cal.ref_reflectance_pc );
+    fprintf(f,"cust_dmax_cal.coverglass_transmission = %d\n", pCalData->cust_dmax_cal.coverglass_transmission );
+    fprintf(f,"add_off_cal_data.result__mm_inner_actual_effective_spads = %d\n", pCalData->add_off_cal_data.result__mm_inner_actual_effective_spads );
+    fprintf(f,"add_off_cal_data.result__mm_outer_actual_effective_spads = %d\n", pCalData->add_off_cal_data.result__mm_outer_actual_effective_spads );
+    fprintf(f,"add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps = %d\n", pCalData->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps );
+    fprintf(f,"add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps = %d\n", pCalData->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps );
+    fprintf(f,"optical_centre.x_centre = %d\n", pCalData->optical_centre.x_centre );
+    fprintf(f,"optical_centre.y_centre = %d\n", pCalData->optical_centre.y_centre );
+    fprintf(f,"xtalkhisto.xtalk_shape.zone_id = %d\n", pCalData->xtalkhisto.xtalk_shape.zone_id );
+    fprintf(f,"xtalkhisto.xtalk_shape.time_stamp = %d\n", pCalData->xtalkhisto.xtalk_shape.time_stamp );
+    fprintf(f,"xtalkhisto.xtalk_shape.first_bin = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_022 );
+    fprintf(f,"xtalkhisto.xtalk_shape.buffer_size = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_023 );
+    fprintf(f,"xtalkhisto.xtalk_shape.number_of_bins = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_024 );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[0] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[0] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[1] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[1] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[2] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[2] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[3] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[3] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[4] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[4] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[5] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[5] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[6] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[6] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[7] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[7] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[8] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[8] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[9] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[9] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[10] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[10] );
+    fprintf(f,"xtalkhisto.xtalk_shape.bin_data[11] = %d\n", pCalData->xtalkhisto.xtalk_shape.bin_data[11] );
+    fprintf(f,"xtalkhisto.xtalk_shape.phasecal_result__reference_phase = %d\n", pCalData->xtalkhisto.xtalk_shape.phasecal_result__reference_phase );
+    fprintf(f,"xtalkhisto.xtalk_shape.phasecal_result__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_shape.phasecal_result__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_shape.cal_config__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_shape.cal_config__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_shape.vcsel_width = %d\n", pCalData->xtalkhisto.xtalk_shape.vcsel_width );
+    fprintf(f,"xtalkhisto.xtalk_shape.fast_osc__frequency = %d\n", pCalData->xtalkhisto.xtalk_shape.VL53L1_p_019 );
+    fprintf(f,"xtalkhisto.xtalk_shape.zero_distance_phase = %d\n", pCalData->xtalkhisto.xtalk_shape.zero_distance_phase );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.cfg_device_state = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.cfg_device_state );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.rd_device_state = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.rd_device_state );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.zone_id = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.zone_id );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.time_stamp = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.time_stamp );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.first_bin = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_022 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.buffer_size = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_023 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.number_of_bins = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_024 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.number_of_ambient_bins = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_bins );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[0] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[0] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[1] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[1] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[2] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[2] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[3] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[3] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[4] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[4] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_seq[5] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[5] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[0] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[0] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[1] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[1] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[2] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[2] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[3] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[3] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[4] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[4] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_rep[5] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[5] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[0] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[0] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[1] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[1] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[2] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[2] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[3] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[3] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[4] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[4] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[5] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[5] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[6] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[6] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[7] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[7] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[8] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[8] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[9] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[9] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[10] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[10] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[11] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[11] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[12] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[12] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[13] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[13] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[14] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[14] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[15] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[15] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[16] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[16] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[17] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[17] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[18] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[18] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[19] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[19] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[20] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[20] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[21] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[21] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[22] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[22] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.bin_data[23] = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.bin_data[23] );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__interrupt_status = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__interrupt_status );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__range_status = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__range_status );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__report_status = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__report_status );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__stream_count = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__stream_count );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.result__dss_actual_effective_spads = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.result__dss_actual_effective_spads );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.phasecal_result__reference_phase = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__reference_phase );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.phasecal_result__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.cal_config__vcsel_start = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.cal_config__vcsel_start );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.vcsel_width = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.vcsel_width );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.vcsel_period = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_009 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.fast_osc__frequency = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_019 );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.total_periods_elapsed = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.total_periods_elapsed );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.peak_duration_us = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.peak_duration_us );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.woi_duration_us = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.woi_duration_us );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.min_bin_value = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.min_bin_value );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.max_bin_value = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.max_bin_value );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.zero_distance_phase = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.zero_distance_phase );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.number_of_ambient_samples = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_samples );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.ambient_events_sum = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.ambient_events_sum );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.ambient_events_per_bin = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_004 );
+
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.roi_config__user_roi_centre_spad = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_centre_spad );
+    fprintf(f,"xtalkhisto.xtalk_hist_removed.roi_config__user_roi_requested_global_xy_size = %d\n", pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_requested_global_xy_size );
+    fprintf(f,"gain_cal.standard_ranging_gain_factor = %d\n", pCalData->gain_cal.standard_ranging_gain_factor );
+    fprintf(f,"gain_cal.histogram_ranging_gain_factor = %d\n", pCalData->gain_cal.histogram_ranging_gain_factor );
+    fprintf(f,"cal_peak_rate_map.cal_distance_mm = %d\n", pCalData->cal_peak_rate_map.cal_distance_mm );
+    fprintf(f,"cal_peak_rate_map.cal_reflectance_pc = %d\n", pCalData->cal_peak_rate_map.cal_reflectance_pc );
+    fprintf(f,"cal_peak_rate_map.max_samples = %d\n", pCalData->cal_peak_rate_map.max_samples );
+    fprintf(f,"cal_peak_rate_map.width = %d\n", pCalData->cal_peak_rate_map.width );
+    fprintf(f,"cal_peak_rate_map.height = %d\n", pCalData->cal_peak_rate_map.height );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[0] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[0] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[1] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[1] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[2] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[2] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[3] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[3] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[4] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[4] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[5] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[5] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[6] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[6] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[7] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[7] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[8] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[8] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[9] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[9] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[10] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[10] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[11] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[11] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[12] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[12] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[13] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[13] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[14] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[14] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[15] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[15] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[16] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[16] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[17] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[17] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[18] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[18] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[19] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[19] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[20] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[20] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[21] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[21] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[22] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[22] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[23] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[23] );
+    fprintf(f,"cal_peak_rate_map.peak_rate_mcps[24] = %d\n", pCalData->cal_peak_rate_map.peak_rate_mcps[24] );
+    fprintf(f,"per_vcsel_cal_data.short_a_offset_mm = %d\n", pCalData->per_vcsel_cal_data.short_a_offset_mm );
+    fprintf(f,"per_vcsel_cal_data.short_b_offset_mm = %d\n", pCalData->per_vcsel_cal_data.short_b_offset_mm );
+    fprintf(f,"per_vcsel_cal_data.medium_a_offset_mm = %d\n", pCalData->per_vcsel_cal_data.medium_a_offset_mm );
+    fprintf(f,"per_vcsel_cal_data.medium_b_offset_mm = %d\n", pCalData->per_vcsel_cal_data.medium_b_offset_mm );
+    fprintf(f,"per_vcsel_cal_data.long_a_offset_mm = %d\n", pCalData->per_vcsel_cal_data.long_a_offset_mm );
+    fprintf(f,"per_vcsel_cal_data.long_b_offset_mm = %d\n", pCalData->per_vcsel_cal_data.long_b_offset_mm );
+    fprintf(f,"algo__xtalk_cpo_HistoMerge_kcps[0] = %d\n", pCalData->algo__xtalk_cpo_HistoMerge_kcps[0] );
+    fprintf(f,"algo__xtalk_cpo_HistoMerge_kcps[1] = %d\n", pCalData->algo__xtalk_cpo_HistoMerge_kcps[1] );
+    fprintf(f,"algo__xtalk_cpo_HistoMerge_kcps[2] = %d\n", pCalData->algo__xtalk_cpo_HistoMerge_kcps[2] );
+    fprintf(f,"algo__xtalk_cpo_HistoMerge_kcps[3] = %d\n", pCalData->algo__xtalk_cpo_HistoMerge_kcps[3] );
+    fprintf(f,"algo__xtalk_cpo_HistoMerge_kcps[4] = %d\n", pCalData->algo__xtalk_cpo_HistoMerge_kcps[4] );
+    fprintf(f,"algo__xtalk_cpo_HistoMerge_kcps[5] = %d\n", pCalData->algo__xtalk_cpo_HistoMerge_kcps[5] );
+    fprintf(f,"}\n");
+};
+
+static int cal_bin2txt(char *filein, char *fileout)
+{
+	FILE *fin;
+	FILE *fout;
+
+	int rc = 0;
+
+	VL53L1_CalibrationData_t CalData;
+	VL53L1_CalibrationData_t *pCalData = &CalData;
+
+	fin = fopen(filein, "r");
+
+	rc = fread(pCalData, sizeof(VL53L1_CalibrationData_t), 1, fin);
+	if(1 != rc) {
+		printf("Failed to read data\n");
+		return -1;
+		}
+	fclose(fin);
+
+	fout = fopen(fileout, "w");
+	SD_DumpCalData(pCalData, fout);
+	fclose(fout);
+	return 0;
+}
+
+#define GET_INTEGER_SET_VALUE_CALIB(parameter_name) \
+		fgets(line, sizeof(line), f); \
+		sscanf(line, "%s = %d ", &temp[0], &value); \
+		parameter_name = value; \
+		printf("line=%d, value=%d\n", i, value); \
+		i++;
+
+
+
+static int cal_txt2bin(char *filein, char *fileout)
+{
+	/* This function start from a calibration text file and generate a binary
+	 * file compatible with the Linux Driver output.
+	 * The script will not parse the single line but all the lines,
+	 * this means that if the order on the txt file is changed
+	 * (or setting missing) the script will fail*/
+	FILE *f;
+	char line[256];
+	char temp[256];
+	int value;
+	int n;
+	int i;
+	int rc = 0;
+	VL53L1_CalibrationData_t CalData;
+	VL53L1_CalibrationData_t *pCalData = &CalData;
+
+	f = fopen(filein, "r");
+	if (!f)
+		return errno;
+
+	i = 0;
+	while(fgets(line, sizeof(line), f)) {
+		debug("%s",line);
+
+		n = sscanf(line, "%s = 0x%x ", &temp[0], &value);
+		if (n > 1) {
+			// found hex the only number print in Hex is the structure version
+			printf("HEX line=%d, value=%x\n", i, value);
+			CalData.struct_version = value;
+			i++;
+			break;
+		}
+
+		i++;
+	}
+	// we are here after the struct version
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_0)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_1)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_2)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_3)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_4)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__spad_enables_ref_5)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.global_config__ref_en_start_select)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.ref_spad_man__num_requested_ref_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.ref_spad_man__ref_location)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__crosstalk_compensation_plane_offset_kcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__crosstalk_compensation_x_plane_gradient_kcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__crosstalk_compensation_y_plane_gradient_kcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.ref_spad_char__total_rate_target_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.algo__part_to_part_range_offset_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.mm_config__inner_offset_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->customer.mm_config__outer_offset_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref__actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref__peak_signal_count_rate_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref__distance_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.ref_reflectance_pc)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->fmt_dmax_cal.coverglass_transmission)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref__actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref__peak_signal_count_rate_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref__distance_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.ref_reflectance_pc)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cust_dmax_cal.coverglass_transmission)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_inner_actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_outer_actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->optical_centre.x_centre)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->optical_centre.y_centre)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.zone_id)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.time_stamp)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_022)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_023)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_024)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[6])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[7])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[8])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[9])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[10])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.bin_data[11])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.phasecal_result__reference_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.phasecal_result__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.cal_config__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.vcsel_width)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.VL53L1_p_019)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_shape.zero_distance_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.cfg_device_state)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.rd_device_state)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.zone_id)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.time_stamp)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_022)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_023)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_024)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_bins)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_seq[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_rep[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[6])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[7])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[8])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[9])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[10])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[11])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[12])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[13])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[14])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[15])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[16])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[17])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[18])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[19])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[20])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[21])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[22])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.bin_data[23])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__interrupt_status)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__range_status)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__report_status)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__stream_count)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.result__dss_actual_effective_spads)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__reference_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.phasecal_result__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.cal_config__vcsel_start)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.vcsel_width)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_009)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_019)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.total_periods_elapsed)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.peak_duration_us)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.woi_duration_us)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.min_bin_value)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.max_bin_value)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.zero_distance_phase)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.number_of_ambient_samples)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.ambient_events_sum)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.VL53L1_p_004)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_centre_spad)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->xtalkhisto.xtalk_hist_removed.roi_config__user_roi_requested_global_xy_size)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->gain_cal.standard_ranging_gain_factor)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->gain_cal.histogram_ranging_gain_factor)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.cal_distance_mm)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.cal_reflectance_pc)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.max_samples)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.width)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.height)
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[0])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[1])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[2])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[3])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[4])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[5])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[6])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[7])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[8])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[9])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[10])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[11])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[12])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[13])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[14])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[15])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[16])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[17])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[18])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[19])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[20])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[21])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[22])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[23])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->cal_peak_rate_map.peak_rate_mcps[24])
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->per_vcsel_cal_data.short_a_offset_mm);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->per_vcsel_cal_data.short_b_offset_mm);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->per_vcsel_cal_data.medium_a_offset_mm);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->per_vcsel_cal_data.medium_b_offset_mm);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->per_vcsel_cal_data.long_a_offset_mm);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->per_vcsel_cal_data.long_b_offset_mm);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->algo__xtalk_cpo_HistoMerge_kcps[0]);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->algo__xtalk_cpo_HistoMerge_kcps[1]);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->algo__xtalk_cpo_HistoMerge_kcps[2]);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->algo__xtalk_cpo_HistoMerge_kcps[3]);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->algo__xtalk_cpo_HistoMerge_kcps[4]);
+	GET_INTEGER_SET_VALUE_CALIB(pCalData->algo__xtalk_cpo_HistoMerge_kcps[5]);
+
+	fclose(f);
+
+	// create the .bin file:
+	rc = write_file(fileout, (void *) pCalData, sizeof(CalData));
+
+
+	return rc;
+}
+
+static int InitRangingDataProcess(int dev,
+		struct RangingDataProcess_t *pData)
+{
+	uint8_t i;
+	int rc = 0;
+
+	for (i=0; i<AVG_TABLE_LENGTH; i++) {
+		pData->Range[i] = 8191;
+		pData->Status[i] = 255;
+	}
+	pData->Current = 0;
+	pData->Entries = 0;
+	pData->LastAvgRange = 8191;
+	pData->LastConfLevel = 0;
+	pData->TotalNoCount = 0;
+	rc = stmvl53l1_get_timing_budget(dev, &pData->TimingBudgetMicroSeconds);
+	if (rc != 0) {
+		printf("stmvl53l1_get_timing_budget() failed %d\n", rc);
+	}
+	return rc;
+}
+
+static void GenNewAmbientPresetMode(FixPoint1616_t Ambient,
+		FixPoint1616_t HALI,
+		FixPoint1616_t HALH,
+		FixPoint1616_t MALI,
+		FixPoint1616_t MALH,
+		VL53L1_DistanceModes InternalDistanceMode,
+		VL53L1_DistanceModes *pNewDistanceMode)
+{
+	switch (InternalDistanceMode) {
+	case VL53L1_DISTANCEMODE_SHORT:
+		*pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT;
+		if (Ambient < HALI)
+			*pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM;
+		if (Ambient < MALI)
+			*pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
+		break;
+	case VL53L1_DISTANCEMODE_MEDIUM:
+		*pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM;
+		if (Ambient > HALH)
+			*pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT;
+		if (Ambient < MALI)
+			*pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
+		break;
+	default:
+		*pNewDistanceMode = VL53L1_DISTANCEMODE_LONG;
+		if (Ambient > MALH)
+			*pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM;
+		if (Ambient > HALH)
+			*pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT;
+		break;
+	}
+}
+
+static void RangingDataProcess(int dev,
+		struct RangingDataProcess_t *pData,
+		VL53L1_MultiRangingData_t *pRange,
+		int16_t *pAvgRangeMilliMeter,
+		uint8_t *pConfLevel)
+{
+	uint8_t i;
+	int16_t RangeMilliMeter;
+	uint8_t RangeStatus, count;
+	uint32_t RangeSum = 0;
+	FixPoint1616_t SignalRate;
+	VL53L1_DistanceModes CurrentDM, NewDM;
+
+	RangeStatus = pRange->RangeData[0].RangeStatus;
+	RangeMilliMeter = pRange->RangeData[0].RangeMilliMeter;
+
+	if (RangeStatus == 6) {
+		*pConfLevel = pData->LastConfLevel = 50;
+		*pAvgRangeMilliMeter = pData->LastAvgRange = RangeMilliMeter;
+	} else {
+		/* ignore very first measurement not caught in status==6 test */
+		if (pRange->StreamCount != 0) {
+			pData->Range[pData->Current] = RangeMilliMeter;
+			pData->Status[pData->Current] = RangeStatus;
+			pData->Current = (pData->Current + 1) % AVG_TABLE_LENGTH;
+			if (pData->Entries < AVG_TABLE_LENGTH)
+				pData->Entries++;
+		}
+		//TODO add leaky xLeaky on last good entry (0/11)
+		count = 0;
+		for (i=0; i<AVG_TABLE_LENGTH; i++) {
+			if ((pData->Status[i] == 0) || (pData->Status[i] == 11)) {
+				RangeSum += pData->Range[i];
+				count++;
+			}
+		}
+		if (count == 0) {
+			if (pData->TotalNoCount < AVG_TABLE_LENGTH) {
+				pData->TotalNoCount++;
+				*pAvgRangeMilliMeter = pData->LastAvgRange;
+				*pConfLevel = pData->LastConfLevel;
+			} else {
+				*pAvgRangeMilliMeter = 8191;
+				*pConfLevel = 0;
+			}
+		} else {
+			pData->TotalNoCount = 0;
+			*pAvgRangeMilliMeter = pData->LastAvgRange = RangeSum / count;
+			if (pData->Entries > 0)
+				*pConfLevel = pData->LastConfLevel =
+						(100 * count) / pData->Entries;
+			else
+				*pConfLevel = 0;
+		}
+	}
+
+	if (pData->EnableDistanceModeSwitch) {
+		stmvl53l1_get_distance_mode(dev, (uint32_t *) &CurrentDM);
+		GenNewAmbientPresetMode(pRange->RangeData[0].AmbientRateRtnMegaCps,
+				pData->HALI, pData->HALH,
+				pData->MALI, pData->MALH,
+				CurrentDM, &NewDM);
+		if (CurrentDM != NewDM){
+			stmvl53l1_stop(dev);
+			stmvl53l1_set_distance_mode(dev, (uint32_t) NewDM);
+			stmvl53l1_start(dev);
+		}
+	}
+
+	if (pData->EnableTimingBudgetSwitch) {
+		SignalRate = pRange->RangeData[0].SignalRateRtnMegaCps;
+		if ((SignalRate <= pData->SignalThreshold1) ||
+				 ((RangeStatus != 0) && (RangeStatus != 11)))
+			stmvl53l1_set_timing_budget(dev,
+					pData->TimingBudgetMicroSeconds * 2);
+		else if (SignalRate >= pData->SignalThreshold2)
+			stmvl53l1_set_timing_budget(dev,
+					pData->TimingBudgetMicroSeconds);
+	}
+}
+
+int main(int argc, char *argv[])
+{
+	int rc = 0;
+	int i,n;
+	char file1_c[255];
+	char file2_c[255];
+	char *file1 = &file1_c[0];
+	char *file2 = &file2_c[0];
+
+	int n_loops=1;
+	uint32_t n_roi_get=0;
+
+	int option_index = 0;
+	int c;
+	uint32_t u32;
+	float f32;
+	uint32_t u32_2;
+	float f32_2;
+
+	if( argc == 1 ){
+		error("what you wan't me ?");
+		help(-1);
+	}
+
+	do{
+		c = getopt_long (argc, argv, string_options , long_options, &option_index);
+		if( c == -1 ){ // -1 mean no more options
+			debug("cl end\n");
+			break;
+		}
+
+		switch (c){
+		case 'l':
+			if(optarg == NULL) {
+				error("filename are required");
+				help(-1);
+			}
+			warn("aptarg= %s", optarg);
+			n=sscanf(optarg,"%s %s", file1, file2);
+			if (n != 2) {
+				error("invalid param need two files use: in.bin out.txt %s", optarg);
+			}
+
+			printf("Use the following files: BIN=%s TXT=%s\n", file1, file2);
+
+			rc = cal_bin2txt(file1, file2);
+
+
+			break;
+
+		case 'L':
+			if(optarg == NULL) {
+				error("filename are required");
+				help(-1);
+			}
+			warn("aptarg= %s", optarg);
+			n=sscanf(optarg,"%s %s", file1, file2);
+			if (n != 2) {
+				error("invalid param need two files use: in.txt out.bin %s", optarg);
+			}
+
+			printf("Use the following files: TXT=%s BIN=%s\n", file1, file2);
+
+			rc = cal_txt2bin(file1, file2);
+
+
+			break;
+
+		case 'd':
+			n=sscanf(optarg, "%d", &i);
+			if( n==1){
+				set_new_device(i);
+			}
+			else{
+				error("invalid/ wrong dev number in %s",  optarg);
+				help(1);
+			}
+			break;
+
+		case 'm' :
+			HANDLE_PARAMETER_INTEGER(mode, "mode");
+			break;
+
+		case 'M' :
+			if( optarg!=NULL){
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			run_meas_loop( n_loops);
+			break;
+
+		case 'o' : // roi get
+			// skip = in short format type opt
+			if( *optarg == '='){
+				optarg++;
+			}
+			n = sscanf(optarg, "%d", &u32);
+			if( n < 1){
+				error("invalid no of roi in %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = stmvl53l1_get_roi(dev_fd, dev_rois, u32, &n_roi_get);
+			if( rc == 0 ){
+				if( n_roi_get != u32){
+					warn("ROI asked %d but got %d", u32, n_roi_get);
+				}
+				dump_roi(stdout,dev_rois, MIN(n_roi_get,u32));
+			}
+			break;
+
+		case 'O': //roi get
+			if( optarg == NULL ){ // no arg kill
+				debug("no arg unset roi");
+				u32=0;
+				rc = 0;
+			}
+			else{
+				if( *optarg == '='){
+					optarg++;
+				}
+				debug("set roi arg %s",optarg);
+				rc= parse_roi_arg(optarg, dev_rois, &u32);
+			}
+			if( rc >= 0 ){
+				verbose("%d roi to set", u32);
+				dump_roi(stdout,dev_rois, u32);
+				open_dev_or_die();
+				rc = stmvl53l1_set_roi(dev_fd, dev_rois,u32);
+			}
+			else{
+				error("set roi");
+				help(-1);
+			}
+			break;
+
+		case 'p' :
+			HANDLE_PARAMETER_INTEGER(set_delay_ms, "poll delay time");
+			break;
+
+		case 'P' :
+			if( *optarg== '=' ){
+				optarg++;
+			}
+			n=sscanf(optarg,"%d" , &run_poll_ms);
+			if( n != 1){
+				error("invalid pause time in %s", optarg);
+				help(-1);
+			}
+			verbose("pause time set to %d msec", run_poll_ms);
+			break;
+		case 'r' :
+			if( optarg!=NULL){
+				//process optional arg
+				// on short form -r=10 may be given or --range=10
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			for( i=0; i< n_loops; i++ ){
+				rc=stmvl53l1_get_data(dev_fd, &dev_1xrange_data);
+				if( rc==0){
+					dev_print_1xdata();
+				}
+				else{
+					error("data error on loop %d", i);
+					break;
+				}
+				if( i < n_loops-1){
+					usleep(run_poll_ms*1000);
+				}
+			}
+			break;
+
+		case 's':
+			open_dev_or_die();
+			rc= stmvl53l1_prestart_checks();
+			rc= stmvl53l1_start(dev_fd);
+			verbose("started status %d",rc);
+			break;
+
+		case 'S':
+			open_dev_or_die();
+			rc=stmvl53l1_stop(dev_fd);
+			verbose("stopped status %d", rc);
+			break;
+
+		case 't' :
+			HANDLE_PARAMETER_INTEGER(timing_budget, "timing budget");
+			break;
+
+		case 'z':
+			if( optarg!=NULL){
+				//process optional arg
+				// on short form -r=10 may be given or --range=10
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			for( i=0; i< n_loops; i++ ){
+				rc=stmvl53l1_get_mz_data(dev_fd, &dev_mz_range_data);
+				if( rc==0){
+					dev_print_mz_data();
+				}
+				else{
+					error("data error on loop %d", i);
+					break;
+				}
+				if( i < n_loops-1){
+					usleep(run_poll_ms*1000);
+				}
+			}
+			break;
+
+		case 'Z':
+			if( *optarg== '=' ){
+				optarg++;
+			}
+			n=sscanf(optarg,"%d", &u32);
+			if( n!=1){
+				error("invalid wrong number of zone loop in %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			run_zone_loop((int)u32);
+			break;
+
+		case 'Q':
+			if( *optarg== '=' ){
+				optarg++;
+			}
+			rc = parse_ranging_data_process(optarg, &u32, &RangingData);
+			if (rc) {
+				error("Bad option line, Usage Q=\"loops enable_auto_distancemode HALI HALH MALI MALH enable_auto_timing_budget SignalLow SignalHigh\" %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			run_zone_loop_ranging_data_process((int)u32, &RangingData);
+			break;
+
+		case 'R':
+			open_dev_or_die();
+			rc = perform_ref_spad_calibration();
+			break;
+
+		case 'X':
+			if( *optarg== '=' ) {
+				optarg++;
+			}
+			n = sscanf(optarg,"%d %d", &u32, &u32_2);
+			printf("Xtalk : n=%d Method = %d, PresetMode = %d\n", n, u32, u32_2);
+			if (n != 2) {
+				error("invalid crosstalk calibration params %s", optarg);
+			}
+			open_dev_or_die();
+			rc = perform_crosstalk_calibration(u32, u32_2);
+			break;
+
+		case 'F':
+			if( *optarg== '=' ) {
+				optarg++;
+			}
+			n = sscanf(optarg,"%d %d %f", &u32, &u32_2, &f32);
+			printf("Offset : n=%d Mode = %d, Distance = %d, Reflectance = %f\n", n, u32, u32_2, f32);
+			if (n != 3) {
+				error("invalid offset calibration distance %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			/* then mode is the first parameter:
+			 * mode = 1 ==> VL53L1_CALIBRATION_OFFSET
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2
+			 * mode = 2 ==> VL53L1_CALIBRATION_OFFSET
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2
+			 * mode = 3 ==> VL53L1_CALIBRATION_OFFSET_PER_ZONE
+			 * 			internal mode=VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE
+			 * mode = 4 ==> VL53L1_CALIBRATION_OFFSET_SIMPLE
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+			 * mode = 5 ==> VL53L1_CALIBRATION_OFFSET_PER_VCSEL
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+			 * mode = 6 ==> VL53L1_CALIBRATION_OFFSET_ZERO_DISTANCE
+			 * 			internal mode=VL53L1_CALIBRATION_OFFSET=2 it doesn't matter
+			 * */
+			rc = perform_offset_calibration(u32, u32_2, f32);
+			break;
+
+		case 'c':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = get_calibration_data(optarg);
+			break;
+
+		case 'C':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = set_calibration_data(optarg);
+			break;
+
+		case 'D':
+			HANDLE_PARAMETER_INTEGER(distance_mode, "distance mode");
+			break;
+
+		case 'E':
+			HANDLE_PARAMETER_INTEGER(crosstalk_enable, "crosstalk enable");
+			break;
+
+		case 'U':
+			HANDLE_PARAMETER_INTEGER(output_mode, "output mode");
+			break;
+
+		case 'f':
+			HANDLE_PARAMETER_INTEGER(force_device_on_enable, "force device on enable");
+			break;
+
+		case 'T':
+			HANDLE_PARAMETER_INTEGER(offset_correction_mode, "offset correction mode");
+			break;
+
+		case 'a':
+			open_dev_or_die();
+			if(optarg != NULL) {
+				if(*optarg == '=')
+					optarg++;
+				rc = stmvl53l1_set_auto_config(dev_fd, optarg);
+			} else
+				rc = stmvl53l1_get_auto_config(dev_fd);
+			break;
+
+		case 'y':
+			is_sysfs = 1;
+			break;
+
+		case 'Y':
+			is_sysfs = 0;
+			break;
+
+		case 'I':
+			open_dev_or_die();
+			rc = stmvl53l1_get_optical_center(dev_fd, &f32, &f32_2);
+			if (rc == 0)
+				info("optical center offset x = %f / y = %f", f32, f32_2);
+			break;
+
+		case 'A':
+			open_dev_or_die();
+			if( optarg!=NULL){
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%f", &f32);
+				if( n!=1){
+					error("invalid dmax reflectance %s", optarg);
+					help(-1);
+				}
+				// set mode
+				rc=stmvl53l1_set_dmax_reflectance(dev_fd, f32);
+				if( rc == 0){
+					info("set dmax reflectance %f", f32);
+				}
+			}
+			else{
+				rc=stmvl53l1_get_dmax_reflectance(dev_fd, &f32);
+				if( rc == 0){
+					info("get dmax reflectance %f", f32);
+				}
+			}
+			break;
+
+		case 'B':
+			HANDLE_PARAMETER_INTEGER(dmax_mode, "dmax mode");
+			break;
+
+		case 'w':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = get_zone_calibration_data(optarg);
+			break;
+
+		case 'W':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = set_zone_calibration_data(optarg);
+			break;
+
+		case 'N':
+			if( *optarg== '=' ) {
+				optarg++;
+			}
+			n = sscanf(optarg,"%d %d", &u32, &u32_2);
+			if (n != 2) {
+				error("invalid tuning parameters %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = perform_tuning(dev_fd, u32, u32_2);
+			break;
+
+		case 'g':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = get_tuning(optarg);
+			break;
+
+		case 'G':
+			if(optarg == NULL) {
+				error("filename is required");
+				help(-1);
+			}
+			open_dev_or_die();
+			rc = set_tuning(optarg);
+			break;
+
+		case 'h':
+			HANDLE_PARAMETER_INTEGER(smudge_correction_mode, "smudge correction mode");
+			break;
+
+		case 'j':
+			if( optarg!=NULL){
+				//process optional arg
+				// on short form -r=10 may be given or --range=10
+				if( *optarg== '=' ){
+					optarg++;
+				}
+				n=sscanf(optarg,"%d", &n_loops);
+				if( n!=1){
+					error("invalid wrong number of loop in %s", optarg);
+					help(-1);
+				}
+			}
+			else{
+				n_loops=run_loops;
+			}
+			open_dev_or_die();
+			for( i=0; i< n_loops; i++ ){
+				rc=stmvl53l1_get_mz_data_additional(dev_fd, &dev_mz_range_data_additional);
+				if( rc==0){
+					dev_print_mz_data_additional();
+				}
+				else{
+					error("data error on loop %d", i);
+					break;
+				}
+				if( i < n_loops-1){
+					usleep(run_poll_ms*1000);
+				}
+			}
+			break;
+
+		case 'J':
+			if( *optarg== '=' ){
+				optarg++;
+			}
+			n=sscanf(optarg,"%d", &u32);
+			if( n!=1){
+				error("invalid wrong number of zone loop in %s", optarg);
+				help(-1);
+			}
+			open_dev_or_die();
+			run_zone_loop_additional((int)u32);
+			break;
+
+		case 0: // flags option keep going
+			break;
+
+		case '?':
+			// TODO we don't quite do a good job with ? it is also unknown option etc return from get opt
+
+		default:
+			help(1);
+			exit(1);
+		}
+	}
+	while(1);  // exit from inner loop
+//done:
+	if( dev_fd)
+		close(dev_fd);
+	return rc;
+}
diff --git a/drivers/input/misc/vl53l1_test/vl53l1_iotest.c b/drivers/input/misc/vl53l1_test/vl53l1_iotest.c
new file mode 100644
index 000000000000..dd8e0623b959
--- /dev/null
+++ b/drivers/input/misc/vl53l1_test/vl53l1_iotest.c
@@ -0,0 +1,278 @@
+/**
+ * IOCTL test
+ */
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <stdint.h>
+
+#include "stmvl53l1_if.h"
+#include "stmvl53l1_internal_if.h"
+
+#include <time.h>
+
+#define ARRAY_SIZE(x) (sizeof(x)/sizeof(x[0]))
+
+
+
+#define timer_start(t) clock_gettime(CLOCK_MONOTONIC, t)
+
+long  timer_elapsed_us(struct timespec *pt){
+	struct timespec now;
+	clock_gettime(CLOCK_MONOTONIC, &now);
+	long delta = (now.tv_sec-pt->tv_sec) + (now.tv_nsec-pt->tv_nsec)/1000;
+	if( now.tv_nsec-pt->tv_nsec < 0){
+		delta+=1000000;
+	}
+	return delta;
+}
+
+int stmvl53l1_reg_wr(int fd, int index, int len , void *data){
+	struct stmvl53l1_register reg;
+	int rc;
+	reg.is_read = 0;
+	reg.index = index;
+	reg.cnt=  len;
+	if( len > 0)
+		memcpy(reg.data.bytes, data, len);
+	rc= ioctl(fd, VL53L1_IOCTL_REGISTER,&reg);
+	if( rc == 0 ){
+		return reg.status;
+	}
+	return -1;
+}
+
+
+int stmvl53l1_reg_rd(int fd, int index, int len , void *data){
+	struct stmvl53l1_register reg;
+	int rc;
+	reg.is_read = 1;
+	reg.index = index;
+	reg.cnt = len;
+	rc= ioctl(fd, VL53L1_IOCTL_REGISTER,&reg);
+	if( rc == 0 ){
+		if( len > 0 && len < 256 )
+			memcpy(data, reg.data.bytes, len);
+		return reg.status;
+	}
+	return -1;
+}
+
+int test_check=0;
+int test_n_err=0;
+#define tfail( cond, msg, ...)\
+	do{\
+		test_check++;\
+		if( cond ) {\
+			printf("ERR %s line %d\t" msg "\n", __func__, __LINE__, ##__VA_ARGS__);\
+			test_n_err++;\
+		}\
+	}while(0)
+
+#define t_status(msg, ...)\
+	do{\
+		printf("STAT %s\t %d err out of %d " msg "\n", __func__, test_n_err, test_check, ##__VA_ARGS__ );\
+	}while(0)
+
+/** ewokplus  cut 1.0 */
+const int random_wr_index = 0x16 ;
+const int random_sz=  0x8;
+
+
+
+void reg_test_perf(int fd){
+	int sz;
+//	uint8_t wr_data[random_sz];
+	uint8_t rd_data[256];
+	int rc;
+//	int data_ok;
+	int n,i;
+	struct timespec tstart;
+	long v_min=0xFFFFFFFF, v_max=0;
+	double sum;
+
+	#define N_LOOP_MAX	4096
+	long Time[N_LOOP_MAX];
+	int n_loops=N_LOOP_MAX;
+	for( sz=1; sz<256; sz*=2){
+		for( n=0; n<n_loops; n++ ){
+			timer_start(&tstart);
+			rc = stmvl53l1_reg_rd(fd, 0x0, sz, rd_data);
+			if( rc ){
+				break;
+			}
+			Time[n]=timer_elapsed_us(&tstart);
+		}
+		if( rc ==0 ){
+			printf("size %d timing result\n", sz);
+			sum=0;
+			v_min=0x7FFFFFFF;
+			v_max=0;
+
+			for( i=0; i<n_loops; i++){
+				sum+=Time[i];
+				v_max = Time[i] > v_max ? Time[i]:v_max;
+				v_min = Time[i] < v_min ? Time[i]:v_min;
+				printf("%ld\n", Time[i]);
+			}
+			printf("sz %d min %d max %d avg %.0lf all timing in us\n", sz,
+					(int)v_min , (int)v_max, (double)sum/n_loops);
+		}
+
+	}
+//no_off:
+	t_status("");
+}
+
+void reg_test_random(int fd){
+	int sz;
+	uint8_t wr_data[random_sz];
+	uint8_t rd_data[random_sz];
+	int rc;
+	int data_ok;
+
+	rc = stmvl53l1_reg_wr(fd, random_wr_index, 0, rd_data);
+	tfail( rc == 0 ," wr 0 length must fail");
+
+	rc = stmvl53l1_reg_rd(fd, random_wr_index, 0, rd_data);
+	tfail( rc == 0 ," rd 0 length must fail");
+
+	memset(wr_data, 0xFF, sizeof(wr_data));
+	for( sz = 1 ; sz < random_sz; sz++ ){
+		rc = stmvl53l1_reg_wr(fd, random_wr_index, sz, wr_data);
+		tfail(rc !=0 , "wr sz %d", sz );
+		if( rc )
+			continue;
+
+		rc = stmvl53l1_reg_rd(fd, random_wr_index, sz, rd_data);
+		tfail( rc != 0 , "rd sz %d", sz );
+		if( rc )
+			continue;
+
+		data_ok =memcmp(wr_data, rd_data, sz);
+		tfail(data_ok!=0, "FF sz %d data mismacth", sz );
+	}
+	for( sz=0; sz<  (int)sizeof(wr_data); sz++)
+		wr_data[sz] =sz;
+
+	for( sz = 1 ; sz < random_sz; sz++ ){
+		rc = stmvl53l1_reg_wr(fd, random_wr_index, sz, wr_data);
+		tfail(rc !=0 , "wr sz %d", sz );
+		if( rc )
+			continue;
+
+		rc = stmvl53l1_reg_rd(fd, random_wr_index, sz, rd_data);
+		tfail(rc !=0  , "wr sz %d", sz );
+		if( rc )
+			continue;
+
+		data_ok =memcmp(wr_data, rd_data, sz);
+		tfail(data_ok!=0,  "addr test  sz %d data mismacth", sz );
+	}
+
+	// offset test
+	memset(wr_data, 0, sizeof(wr_data));
+	rc = stmvl53l1_reg_wr(fd, random_wr_index, sz, wr_data);
+	tfail(rc!=0,  "addr test  sz %d data mismacth", sz );
+	goto no_off;
+	int offset,i;
+	for( sz=1; sz <= 4; sz*=2){
+		for( offset = 0 ; offset <= random_sz/2; offset++ ){
+			for( i=0; i<sz; sz++)
+				wr_data[offset+i]=offset+i+sz;
+			rc = stmvl53l1_reg_wr(fd, random_wr_index+offset, sz, &wr_data[offset]);
+			tfail(rc !=0 , "off wr%d sz %d", offset , sz );
+			if( rc )
+				break;
+			// read back full chunk
+			rc = stmvl53l1_reg_rd(fd, random_wr_index, sizeof(wr_data), rd_data);
+			tfail(rc !=0 , "off wr %d sz %d", offset, sz );
+			if( rc )
+				break;
+
+			data_ok = memcmp(wr_data, rd_data, sizeof(wr_data));
+			tfail(data_ok!=0,  "off  %d z %d data mismacth", offset, sz);
+			if( data_ok )
+				break;
+		}
+	}
+no_off:
+	t_status("");
+}
+
+
+struct test_t {
+	int mask_bit_no;
+	void(*f_test)(int);
+	const char *name;
+};
+struct test_t  tests[]={
+	{
+		.f_test = reg_test_random,
+		.name = "reg_test_random"
+	},
+
+	{
+		.f_test = reg_test_perf,
+		.name = "reg_test_perf"
+	},
+};
+
+static void help(void)
+{
+	int i;
+	fprintf(stderr,	"Usage: vl53l1_iotest test_mask\n");
+	fprintf(stderr, "testlist :\n");
+	for( i=0; i<(int)ARRAY_SIZE(tests);i++){
+		fprintf(stderr, "test #%d 0x%08X %s\n", i, 1<<i,
+				tests[i].name);
+	}
+	exit(1);
+}
+
+int main(int argc, char *argv[])
+{
+	int fd;
+//	struct stmvl53l1_register reg;
+	char *end;
+//	int rc;
+	int i;
+	int test_mask;
+	int n_run;
+
+	if (argc < 2) {
+		help();
+		exit(1);
+	}
+
+	fd = open("/dev/" VL53L1_MISC_DEV_NAME ,O_RDWR );
+	if (fd <= 0) {
+		fprintf(stderr,"Error open %s device: %s\n", VL53L1_MISC_DEV_NAME, strerror(errno));
+		return -1;
+	}
+
+	test_mask = strtoul(argv[1], &end, 16);
+	if (*end) {
+		help();
+		exit(1);
+	}
+
+	for( i= 0, n_run=0 ; i < (int)ARRAY_SIZE(tests); i++){
+		if( test_mask & (1<<i) ){
+			n_run++;
+			printf("test #%d %s ...", n_run, tests[i].name);
+			tests[i].f_test(fd);
+		}
+	}
+
+//done:
+	close(fd);
+	return 0;
+}
+
+
diff --git a/drivers/input/misc/vl53l1_test/vl53l1_reg.c b/drivers/input/misc/vl53l1_test/vl53l1_reg.c
new file mode 100644
index 000000000000..5f4075fe8e2b
--- /dev/null
+++ b/drivers/input/misc/vl53l1_test/vl53l1_reg.c
@@ -0,0 +1,277 @@
+
+
+#include <errno.h>
+#include <string.h>
+#include <stdio.h>
+#include <fcntl.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <sys/ioctl.h>
+#include <stdint.h>
+
+#include "stmvl53l1_if.h"
+#include "stmvl53l1_internal_if.h"
+
+static int stmvl53l1_reg_wr(int fd, int index, int len , void *data){
+	struct stmvl53l1_register reg;
+	int rc;
+	reg.is_read = 0;
+	reg.index = index;
+	reg.cnt=  len;
+	if( len > 0)
+		memcpy(reg.data.bytes, data, len);
+	rc= ioctl(fd, VL53L1_IOCTL_REGISTER,&reg);
+	if( rc == 0 ){
+		return reg.status;
+	}
+	return -1;
+}
+
+
+static int stmvl53l1_reg_rd(int fd, int index, int len , void *data){
+	struct stmvl53l1_register reg;
+	int rc;
+	reg.is_read = 1;
+	reg.index = index;
+	reg.cnt = len;
+	rc= ioctl(fd, VL53L1_IOCTL_REGISTER,&reg);
+	if( rc == 0 ){
+		if( len > 0 && len < 256 )
+			memcpy(data, reg.data.bytes, len);
+		return reg.status;
+	}
+	return -1;
+}
+
+int test_check=0;
+int test_n_err=0;
+#define tfail( cond, msg, ...)\
+	do{\
+		test_check++;\
+		if( cond ) {\
+			printf("ERR %s line %d\t" msg "\n", __func__, __LINE__, ##__VA_ARGS__);\
+			test_n_err++;\
+		}\
+	}while(0)
+
+#define t_status(msg, ...)\
+	do{\
+		printf("STAT %s\t %d err out of %d " msg "\n", __func__, test_n_err, test_check, ##__VA_ARGS__ );\
+	}while(0)
+
+/** ewokplus  cut 1.0 */
+const int random_wr_index = 0x16 ;
+const int random_sz=  0x8;
+void reg_test_random(int fd){
+	int sz;
+	uint8_t wr_data[random_sz];
+	uint8_t rd_data[random_sz];
+	int rc;
+	int data_ok;
+
+	rc = stmvl53l1_reg_wr(fd, random_wr_index, 0, rd_data);
+	tfail( rc == 0 ," wr 0 length must fail");
+
+	rc = stmvl53l1_reg_rd(fd, random_wr_index, 0, rd_data);
+	tfail( rc == 0 ," rd 0 length must fail");
+
+	memset(wr_data, 0xFF, sizeof(wr_data));
+	for( sz = 1 ; sz < random_sz; sz++ ){
+		rc = stmvl53l1_reg_wr(fd, random_wr_index, sz, wr_data);
+		tfail(rc !=0 , "wr sz %d", sz );
+		if( rc )
+			continue;
+
+		rc = stmvl53l1_reg_rd(fd, random_wr_index, sz, rd_data);
+		tfail( rc != 0 , "rd sz %d", sz );
+		if( rc )
+			continue;
+
+		data_ok =memcmp(wr_data, rd_data, sz);
+		tfail(data_ok!=0, "FF sz %d data mismacth", sz );
+	}
+	for( sz=0; sz<  (int)sizeof(wr_data); sz++)
+		wr_data[sz] =sz;
+
+	for( sz = 1 ; sz < random_sz; sz++ ){
+		rc = stmvl53l1_reg_wr(fd, random_wr_index, sz, wr_data);
+		tfail(rc !=0 , "wr sz %d", sz );
+		if( rc )
+			continue;
+
+		rc = stmvl53l1_reg_rd(fd, random_wr_index, sz, rd_data);
+		tfail(rc !=0  , "wr sz %d", sz );
+		if( rc )
+			continue;
+
+		data_ok =memcmp(wr_data, rd_data, sz);
+		tfail(data_ok!=0,  "addr test  sz %d data mismacth", sz );
+	}
+
+	// offset test
+	memset(wr_data, 0, sizeof(wr_data));
+	rc = stmvl53l1_reg_wr(fd, random_wr_index, sz, wr_data);
+	tfail(rc!=0,  "addr test  sz %d data mismacth", sz );
+	goto no_off;
+	int offset,i;
+	for( sz=1; sz <= 4; sz*=2){
+		for( offset = 0 ; offset <= random_sz/2; offset++ ){
+			for( i=0; i<sz; sz++)
+				wr_data[offset+i]=offset+i+sz;
+			rc = stmvl53l1_reg_wr(fd, random_wr_index+offset, sz, &wr_data[offset]);
+			tfail(rc !=0 , "off wr%d sz %d", offset , sz );
+			if( rc )
+				break;
+			// read back full chunk
+			rc = stmvl53l1_reg_rd(fd, random_wr_index, sizeof(wr_data), rd_data);
+			tfail(rc !=0 , "off wr %d sz %d", offset, sz );
+			if( rc )
+				break;
+
+			data_ok = memcmp(wr_data, rd_data, sizeof(wr_data));
+			tfail(data_ok!=0,  "off  %d z %d data mismacth", offset, sz);
+			if( data_ok )
+				break;
+		}
+	}
+no_off:
+	t_status("");
+}
+
+static void help(void)
+{
+	fprintf(stderr,
+		"Usage: vl53l1_reg REG_ADDR REG_BYTES [REG_DATA]\n"
+		" REG_ADDR is VL53L1 register address using 0xxx format: \n"
+		" REG_BYTES is r number bytes(1, 2 or 4) \n"
+		" REG_DATA is optional for writting data to requested REG_ADDR for 1 2 4 it can be single hax form or a list of byte hexa array\n"
+		);
+	exit(1);
+}
+
+int main(int argc, char *argv[])
+{
+	int fd;
+	struct stmvl53l1_register reg;
+	char *end;
+	int rc;
+	int i;
+
+	if (argc < 3) {
+		help();
+		exit(1);
+	}
+
+	fd = open("/dev/" VL53L1_MISC_DEV_NAME ,O_RDWR );
+	if (fd <= 0) {
+		fprintf(stderr,"Error open %s device: %s\n", VL53L1_MISC_DEV_NAME, strerror(errno));
+		return -1;
+	}
+
+	reg.index = strtoul(argv[1], &end, 16);
+	if (*end) {
+		help();
+		exit(1);
+	}
+
+	switch( reg.index ){
+	case 0x10000 :
+		// ioctl test
+		reg_test_random(fd);
+		break;
+	case 0x10001 :
+		break;
+	}
+ 	reg.cnt = strtoul(argv[2],&end,10);
+	if (*end) {
+	   	help();
+		exit(1);
+	}
+	if (argc == 3) {
+		reg.is_read = 1;
+		printf("To read VL53L1 register index:0x%x, bytes:%d\n", reg.index, reg.cnt);
+
+		rc= ioctl(fd, VL53L1_IOCTL_REGISTER,&reg);
+		if( rc ){
+			perror("fail");
+		}
+		else{
+			if( reg.status !=0 ){
+				//fail
+				printf("device rd fail status %d\n", (int)reg.status);
+				goto done;
+			}
+			switch( reg.cnt ){
+			case 1:
+				printf(" 0x%02x %d\n", (int)reg.data.b, (int)reg.data.b);
+			break;
+
+			case 2:
+				printf(" 0x%04x %d\n", (int)reg.data.w, (int)reg.data.w);
+			break;
+			case 4:
+				printf(" 0x%04x %d\n", (int)reg.data.dw, (int)reg.data.dw);
+			break;
+			default:
+				for(i=0; i< (int)reg.cnt; i++  ){
+					printf("0x%02x ", (int)reg.data.bytes[i]);
+					if( i%16 == 15 && i != (int)reg.cnt-1){
+						printf("\n");
+					}
+				}
+				printf("\n");
+
+			}
+		}
+	} else {
+		uint32_t dw;
+		reg.data.dw=0;// reset to 0 so that all 1 2 3 4 size can use direct assuming same endianness
+		if( argc ==  4 ){
+			// we have single data for 1 2 3 4 byte reg
+			reg.is_read = 0;
+
+			dw = strtoul(argv[3],&end,16);
+			if (*end) {
+				help();
+				exit(1);
+			}
+			switch( reg.cnt ){
+				case 1: reg.data.b = dw;break;
+				case 2: reg.data.w = dw;break;
+				case 3:
+				case 4: reg.data.dw = dw;break;
+				default:
+					if( reg.cnt >4 )
+						fprintf(stderr, "not enough data for given %d size\n",reg.cnt );
+			}
+		}
+		else{
+			uint32_t dw;
+			if( argc != (int)reg.cnt + 3 ){
+				fprintf(stderr, "not enough data byte for size\n");
+				help();
+				exit(1);
+			}
+			for ( i=0; i<(int)reg.cnt; i++ ){
+				rc= sscanf(argv[3+i], "%x", & dw);
+				if( rc != 1 ){
+					fprintf(stderr, "bad syntax data[%d] %s\n", i, argv[3+i]);
+					help();
+					exit(1);
+				}
+				reg.data.bytes[i]=dw;
+			}
+		}
+		// if we have more args scan all of them
+		printf("To write VL53L0 register index:0x%x, bytes:%d as value:0x%x ",
+						reg.index, reg.cnt, reg.data.dw);
+		rc= ioctl(fd, VL53L1_IOCTL_REGISTER,&reg);
+		printf("status %d\n", reg.status);
+	}
+
+done:
+	close(fd);
+	return 0;
+}
+
+