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IO_VL53L0X: Some bug fixes.

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Modify state model, and improve recovery after <D HAL RESET>.
This commit is contained in:
Neil McKechnie 2023-02-10 15:32:41 +00:00
parent 5f9705d1b7
commit f358880f30
1 changed files with 43 additions and 38 deletions
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81
IO_VL53L0X.h
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@ -48,7 +48,7 @@
* using a distinct I2C address. The process is described in ST Microelectronics application
* note AN4846.
*
* WARNING: If the device's XSHUT pin is not connected, then it is very prone to noise,
* WARNING: If the device's XSHUT pin is not connected, then it may be prone to noise,
* and the device may reset spontaneously or when handled and the device will stop responding
* on its allocated address. If you're not using XSHUT, then tie it to +5V via a resistor
* (should be tied to +2.8V strictly). Some manufacturers (Adafruit and Polulu for example)
@ -112,16 +112,15 @@ private:
// State machine states.
enum : uint8_t {
STATE_INIT = 0,
STATE_RESTARTMODULE = 1,
STATE_CONFIGUREADDRESS = 2,
STATE_SKIP = 3,
STATE_CONFIGUREDEVICE = 4,
STATE_INITIATESCAN = 5,
STATE_CHECKSTATUS = 6,
STATE_GETRESULTS = 7,
STATE_DECODERESULTS = 8,
STATE_FAILED = 9,
STATE_INIT,
STATE_RESTARTMODULE,
STATE_CONFIGUREADDRESS,
STATE_CONFIGUREDEVICE,
STATE_INITIATESCAN,
STATE_CHECKSTATUS,
STATE_GETRESULTS,
STATE_DECODERESULTS,
STATE_FAILED,
};
// Register addresses
@ -156,24 +155,25 @@ protected:
// the device will not respond on its default address if it has
// already been changed. Therefore, we skip the address configuration if the
// 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;
} else
_nextState = STATE_INIT;
_nextState = STATE_INIT;
_addressConfigInProgress = false;
}
void _loop(unsigned long currentMicros) override {
uint8_t status;
switch (_nextState) {
case STATE_INIT:
// On first entry to loop, reset this module by pulling XSHUT low. Each module
// 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);
_nextState = STATE_RESTARTMODULE;
delayUntil(currentMicros+10000);
if (I2CManager.exists(_I2CAddress)) {
// Device already present on the nominated address, so skip the address initialisation.
_nextState = STATE_CONFIGUREDEVICE;
} else {
// On first entry to loop, reset this module by pulling XSHUT low. Each module
// 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);
_nextState = STATE_RESTARTMODULE;
delayUntil(currentMicros+10000);
}
break;
case STATE_RESTARTMODULE:
// On second entry, set XSHUT pin high to allow this module to restart.
@ -183,13 +183,14 @@ protected:
// instead of driving the output directly.
// Ensure XSHUT is set 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) to bring the module out of sleep mode.
if (_xshutPin != VPIN_NONE) IODevice::write(_xshutPin, 1);
// Allow the module time to restart
delayUntil(currentMicros+10000);
_nextState = STATE_CONFIGUREADDRESS;
if (!_addressConfigInProgress) {
_addressConfigInProgress = true;
// Set XSHUT pin (if connected) to bring the module out of sleep mode.
if (_xshutPin != VPIN_NONE) IODevice::configureInput(_xshutPin, true);
// Allow the module time to restart
delayUntil(currentMicros+10000);
_nextState = STATE_CONFIGUREADDRESS;
}
break;
case STATE_CONFIGUREADDRESS:
// Then write the desired I2C address to the device, while this is the only
@ -198,12 +199,16 @@ protected:
#if defined(I2C_EXTENDED_ADDRESS)
// Add subbus reference for desired address to the device default address.
I2CAddress defaultAddress = {_I2CAddress, VL53L0X_I2C_DEFAULT_ADDRESS};
I2CManager.write(defaultAddress, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _I2CAddress.deviceAddress());
status = I2CManager.write(defaultAddress, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _I2CAddress.deviceAddress());
#else
I2CManager.write(VL53L0X_I2C_DEFAULT_ADDRESS, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _I2CAddress);
status = I2CManager.write(VL53L0X_I2C_DEFAULT_ADDRESS, 2, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, _I2CAddress);
#endif
if (status != I2C_STATUS_OK) {
reportError(status);
}
}
delayUntil(currentMicros+10000);
_nextState = STATE_CONFIGUREDEVICE;
break;
case STATE_CONFIGUREDEVICE:
// Allow next VL53L0X device to be configured
@ -214,9 +219,12 @@ protected:
_display();
#endif
// Set 2.8V mode
write_reg(VL53L0X_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
status = write_reg(VL53L0X_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
read_reg(VL53L0X_CONFIG_PAD_SCL_SDA__EXTSUP_HV) | 0x01);
_nextState = STATE_INITIATESCAN;
if (status != I2C_STATUS_OK) {
reportError(status);
} else
_nextState = STATE_INITIATESCAN;
} else {
DIAG(F("VL53L0X I2C:%s device not responding"), _I2CAddress.toString());
_deviceState = DEVSTATE_FAILED;
@ -235,7 +243,6 @@ protected:
if (status == I2C_STATUS_PENDING) return; // try next time
if (status != I2C_STATUS_OK) {
reportError(status);
_nextState = STATE_FAILED;
} else
_nextState = STATE_GETRESULTS;
delayUntil(currentMicros + 95000); // wait for 95 ms before checking.
@ -244,7 +251,6 @@ protected:
// Ranging completed. Request results
_outBuffer[0] = VL53L0X_REG_RESULT_RANGE_STATUS;
I2CManager.read(_I2CAddress, _inBuffer, 12, _outBuffer, 1, &_rb);
_nextState = 3;
delayUntil(currentMicros + 5000); // Allow 5ms to get data
_nextState = STATE_DECODERESULTS;
break;
@ -269,7 +275,6 @@ protected:
_nextState = STATE_INITIATESCAN;
} else {
reportError(status);
_nextState = STATE_FAILED;
}
break;
case STATE_FAILED:
@ -281,7 +286,7 @@ protected:
}
}
// Function to report a failed I2C operation. Put the device off-line.
// Function to report a failed I2C operation.
void reportError(uint8_t status) {
DIAG(F("VL53L0X I2C:%s Error:%d %S"), _I2CAddress.toString(), status, I2CManager.getErrorMessage(status));
_deviceState = DEVSTATE_FAILED;