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Update IO_VL53L0X.h

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Improve address changing logic.
This commit is contained in:
Neil McKechnie 2023-01-22 12:37:16 +00:00
parent ccf463b507
commit e079a9e395
1 changed files with 42 additions and 26 deletions
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66
IO_VL53L0X.h
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@ -70,7 +70,8 @@
* lowThreshold is the distance at which the digital vpin state is set to 1 (in mm), * lowThreshold is the distance at which the digital vpin state is set to 1 (in mm),
* highThreshold is the distance at which the digital vpin state is set to 0 (in mm), * highThreshold is the distance at which the digital vpin state is set to 0 (in mm),
* and xshutPin is the VPIN number corresponding to a digital output that is connected to the * and xshutPin is the VPIN number corresponding to a digital output that is connected to the
* XSHUT terminal on the module. * XSHUT terminal on the module. The digital output may be an Arduino pin or an
* I/O extender pin.
* *
* Example: * Example:
* In mySetup function within mySetup.cpp: * In mySetup function within mySetup.cpp:
@ -101,21 +102,24 @@ private:
uint16_t _offThreshold; uint16_t _offThreshold;
VPIN _xshutPin; VPIN _xshutPin;
bool _value; bool _value;
uint8_t _nextState = 0; uint8_t _nextState = STATE_INIT;
I2CRB _rb; I2CRB _rb;
uint8_t _inBuffer[12]; uint8_t _inBuffer[12];
uint8_t _outBuffer[2]; uint8_t _outBuffer[2];
static bool _addressConfigInProgress;
// State machine states. // State machine states.
enum : uint8_t { enum : uint8_t {
STATE_INIT = 0, STATE_INIT = 0,
STATE_CONFIGUREADDRESS = 1, STATE_RESTARTMODULE = 1,
STATE_SKIP = 2, STATE_CONFIGUREADDRESS = 2,
STATE_CONFIGUREDEVICE = 3, STATE_SKIP = 3,
STATE_INITIATESCAN = 4, STATE_CONFIGUREDEVICE = 4,
STATE_CHECKSTATUS = 5, STATE_INITIATESCAN = 5,
STATE_GETRESULTS = 6, STATE_CHECKSTATUS = 6,
STATE_DECODERESULTS = 7, STATE_GETRESULTS = 7,
STATE_FAILED = 8, STATE_DECODERESULTS = 8,
STATE_FAILED = 9,
}; };
// Register addresses // Register addresses
@ -146,14 +150,13 @@ protected:
addDevice(this); addDevice(this);
} }
void _begin() override { void _begin() override {
if (_xshutPin == VPIN_NONE) { // If there's only one device, then the XSHUT pin need not be connected. However,
// Check if device is already responding on the nominated address. // the device will not respond on its default address if it has
if (I2CManager.exists(_i2cAddress)) { // already been changed. Therefore, we skip the address configuration if the
// Yes, it's already on this address, so skip the address initialisation. // desired address is already responding on the I2C bus.
if (_xshutPin == VPIN_NONE && I2CManager.exists(_i2cAddress)) {
// Device already present on this address, so skip the address initialisation.
_nextState = STATE_CONFIGUREDEVICE; _nextState = STATE_CONFIGUREDEVICE;
} else {
_nextState = STATE_INIT;
}
} }
} }
@ -161,21 +164,32 @@ protected:
uint8_t status; uint8_t status;
switch (_nextState) { switch (_nextState) {
case STATE_INIT: case STATE_INIT:
// On first entry to loop, reset this module by pulling XSHUT low. All modules // On first entry to loop, reset this module by pulling XSHUT low. Each module
// will be reset in turn. // will be addressed in turn, until all are in the reset state.
// If no XSHUT pin is configured, then only one device is supported.
if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 0); if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 0);
_nextState = STATE_RESTARTMODULE;
delayUntil(currentMicros+1000);
break;
case STATE_RESTARTMODULE:
// On second entry, set XSHUT pin high to allow this module to restart.
// On the module, there is a diode in series with the XSHUT pin to
// protect the low-voltage pin against +5V.
// Ensure this is done for only one module at a time by using a
// shared flag accessible to all device instances.
if (_addressConfigInProgress) return;
_addressConfigInProgress = true;
// Set XSHUT pin (if connected)
if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 1);
// Allow the module time to restart
delayUntil(currentMicros+10000);
_nextState = STATE_CONFIGUREADDRESS; _nextState = STATE_CONFIGUREADDRESS;
break; break;
case STATE_CONFIGUREADDRESS: case STATE_CONFIGUREADDRESS:
// On second entry, set XSHUT pin high to allow the module to restart.
// On the module, there is a diode in series with the XSHUT pin to
// protect the low-voltage pin against +5V.
if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 1);
// Allow the module time to restart
delay(10);
// Then write the desired I2C address to the device, while this is the only // Then write the desired I2C address to the device, while this is the only
// module responding to the default address. // module responding to the default address.
I2CManager.write(VL53L0X_I2C_DEFAULT_ADDRESS, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _i2cAddress); I2CManager.write(VL53L0X_I2C_DEFAULT_ADDRESS, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _i2cAddress);
_addressConfigInProgress = false;
_nextState = STATE_SKIP; _nextState = STATE_SKIP;
break; break;
case STATE_SKIP: case STATE_SKIP:
@ -311,4 +325,6 @@ private:
} }
}; };
bool VL53L0X::_addressConfigInProgress = false;
#endif // IO_VL53L0X_h #endif // IO_VL53L0X_h