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Cleanup I2Cscan library (#459)

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* Cleanup scanI2C library

* Fixed formatting issues

* First round of changes based on feedback

* Fixed a fat fingered mistake

* Actually fix the formatting issues
This commit is contained in:
JLitewski
2025-09-17 11:06:09 -04:00
committed by GitHub
parent 23390ddb39
commit c07319f37f
4 changed files with 142 additions and 94 deletions
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209
lib/i2cscan/i2cscan.cpp
View File

@@ -1,116 +1,156 @@
#include "i2cscan.h"
#include <array>
#include <cstdint>
#include <string>
#include "../../src/globals.h"
#include "../../src/consts.h"
#ifdef ESP8266
uint8_t portArray[] = {16, 5, 4, 2, 14, 12, 13};
uint8_t portExclude[] = {LED_PIN};
String portMap[] = {"D0", "D1", "D2", "D4", "D5", "D6", "D7"};
#elif defined(ESP32C3)
uint8_t portArray[] = {2, 3, 4, 5, 6, 7, 8, 9, 10};
uint8_t portExclude[] = {18, 19, 20, 21, LED_PIN};
String portMap[] = {"2", "3", "4", "5", "6", "7", "8", "9", "10"};
#elif defined(ESP32C6)
uint8_t portArray[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 14, 15, 18, 19, 20, 21, 22, 23};
String portMap[] = {"0", "1", "2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "14", "15", "18", "19", "20", "21", "22", "23"};
uint8_t portExclude[] = {12, 13, 16, 17, LED_PIN};
#elif defined(ESP32)
uint8_t portArray[] = {4, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 25, 26, 27, 32, 33};
String portMap[] = {"4", "13", "14", "15", "16", "17", "18", "19", "21", "22", "23", "25", "26", "27", "32", "33"};
uint8_t portExclude[] = {LED_PIN};
#endif
namespace I2CSCAN
{
enum class ScanState {
namespace I2CSCAN {
enum class ScanState : uint8_t {
IDLE,
SCANNING,
DONE
};
ScanState scanState = ScanState::IDLE;
uint8_t currentSDA = 0;
uint8_t currentSCL = 0;
uint8_t currentAddress = 1;
bool found = false;
std::vector<uint8_t> validPorts;
namespace {
ScanState scanState = ScanState::IDLE;
uint8_t currentSDA = 0;
uint8_t currentSCL = 0;
uint8_t currentAddress = 1;
bool found = false;
uint8_t txFails = 0;
std::vector<uint8_t> validPorts;
void scani2cports()
{
#ifdef ESP8266
std::array<uint8_t, 7> portArray = {16, 5, 4, 2, 14, 12, 13};
std::array<std::string, 7> portMap = {"D0", "D1", "D2", "D4", "D5", "D6", "D7"};
std::array<uint8_t, 1> portExclude = {LED_PIN};
#elif defined(ESP32C3)
std::array<uint8_t, 9> portArray = {2, 3, 4, 5, 6, 7, 8, 9, 10};
std::array<std::string, 9> portMap = {"2", "3", "4", "5", "6", "7", "8", "9", "10"};
std::array<uint8_t, 5> portExclude = {18, 19, 20, 21, LED_PIN};
#elif defined(ESP32C6)
std::array<uint8_t, 20> portArray = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 14, 15, 18, 19, 20, 21, 22, 23};
std::array<std::string, 20> portMap = {"0", "1", "2", "3", "4", "5", "6", "7", "8", "9", "10", "11", "14", "15", "18", "19", "20", "21", "22", "23"};
std::array<uint8_t, 5> portExclude = {12, 13, 16, 17, LED_PIN};
#elif defined(ESP32)
std::array<uint8_t, 16> portArray = {4, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 25, 26, 27, 32, 33};
std::array<std::string, 16> portMap = {"4", "13", "14", "15", "16", "17", "18", "19", "21", "22", "23", "25", "26", "27", "32", "33"};
std::array<uint8_t, 1> portExclude = {LED_PIN};
#endif
bool selectNextPort() {
currentSCL++;
if(validPorts[currentSCL] == validPorts[currentSDA]) currentSCL++;
if (currentSCL < validPorts.size()) {
Wire.begin((int)validPorts[currentSDA], (int)validPorts[currentSCL]); //NOLINT
return true;
}
currentSCL = 0;
currentSDA++;
if (currentSDA >= validPorts.size()) {
if (!found) {
Serial.println("[ERROR] I2C: No I2C devices found"); //NOLINT
}
#ifdef ESP32
Wire.end();
#endif
Wire.begin(static_cast<int>(PIN_IMU_SDA), static_cast<int>(PIN_IMU_SCL));
scanState = ScanState::DONE;
return false;
}
Wire.begin((int)validPorts[currentSDA], (int)validPorts[currentSCL]);
return true;
}
template <uint8_t size1, uint8_t size2>
uint8_t countCommonElements(
const std::array<uint8_t, size1>& array1,
const std::array<uint8_t, size2>& array2) {
uint8_t count = 0;
for (const auto& elem1 : array1) {
for (const auto& elem2 : array2) {
if (elem1 == elem2) {
count++;
}
}
}
return count;
}
} // anonymous namespace
void scani2cports() {
if (scanState != ScanState::IDLE) {
return;
if (scanState == ScanState::DONE) {
Serial.println("[DEBUG] I2C scan finished previously, resetting and scanning again..."); //NOLINT
} else {
return; // Already scanning, do not start again
}
}
// Filter out excluded ports
for (size_t i = 0; i < sizeof(portArray); i++) {
if (!inArray(portArray[i], portExclude, sizeof(portExclude))) {
validPorts.push_back(portArray[i]);
}
}
validPorts.clear();
uint8_t excludes = countCommonElements<portArray.size(), portExclude.size()>(portArray, portExclude);
validPorts.reserve(portArray.size() - excludes); // Reserve space to avoid reallocations
for (const auto& port : portArray) {
if (std::find(portExclude.begin(), portExclude.end(), port) == portExclude.end()) {
validPorts.push_back(port); // Port is valid, add it to the list
}
}
// Reset scan variables and start scanning
found = false;
currentSDA = 0;
currentSCL = 1;
currentAddress = 1;
txFails = 0;
scanState = ScanState::SCANNING;
}
}
bool selectNextPort() {
currentSCL++;
if(validPorts[currentSCL] == validPorts[currentSDA])
currentSCL++;
if (currentSCL < validPorts.size()) {
Wire.begin((int)validPorts[currentSDA], (int)validPorts[currentSCL]);
return true;
}
currentSCL = 0;
currentSDA++;
if (currentSDA >= validPorts.size()) {
if (!found) {
Serial.println("[ERR] I2C: No I2C devices found");
}
#ifdef ESP32
Wire.end();
#endif
Wire.begin(static_cast<int>(PIN_IMU_SDA), static_cast<int>(PIN_IMU_SCL));
scanState = ScanState::DONE;
return false;
}
Wire.begin((int)validPorts[currentSDA], (int)validPorts[currentSCL]);
return true;
}
void update()
{
void update() {
if (scanState != ScanState::SCANNING) {
return;
}
if (currentAddress == 1) {
#ifdef ESP32
if (currentAddress == 1) {
Wire.end();
}
#endif
}
Wire.beginTransmission(currentAddress);
byte error = Wire.endTransmission();
const uint8_t error = Wire.endTransmission();
if (error == 0)
{
Serial.printf("[DBG] I2C (@ %s(%d) : %s(%d)): I2C device found at address 0x%02x !\n",
if (error == 0) {
Serial.printf("[INFO ] I2C (@ %s(%d) : %s(%d)): I2C device found at address 0x%02x!\n",
portMap[currentSDA].c_str(), validPorts[currentSDA], portMap[currentSCL].c_str(), validPorts[currentSCL], currentAddress);
found = true;
}
else if (error == 4)
{
Serial.printf("[ERR] I2C (@ %s(%d) : %s(%d)): Unknown error at address 0x%02x\n",
} else if (error == 4) { // Unable to start transaction, log and warn
Serial.printf("[WARN ] I2C (@ %s(%d) : %s(%d)): Unable to start transaction at address 0x%02x!\n",
portMap[currentSDA].c_str(), validPorts[currentSDA], portMap[currentSCL].c_str(), validPorts[currentSCL], currentAddress);
txFails++;
}
currentAddress++;
if (currentAddress <= 127) {
if (txFails > 5) {
#if BOARD == BOARD_SLIMEVR_LEGACY || BOARD == BOARD_SLIMEVR_DEV || BOARD == BOARD_SLIMEVR || BOARD == BOARD_SLIMEVR_V1_2
Serial.printf("[ERROR] I2C: Too many transaction errors (%d), please power off the tracker and contact SlimeVR support!\n", txFails);
#else
Serial.printf("[ERROR] I2C: Too many transaction errors (%d), please power off the tracker and check the IMU connections!\n", txFails);
#endif
}
return;
}
@@ -118,19 +158,6 @@ namespace I2CSCAN
selectNextPort();
}
bool inArray(uint8_t value, uint8_t* array, size_t arraySize)
{
for (size_t i = 0; i < arraySize; i++)
{
if (value == array[i])
{
return true;
}
}
return false;
}
bool hasDevOnBus(uint8_t addr) {
byte error;
#if ESP32C3
@@ -165,9 +192,9 @@ namespace I2CSCAN
*/
int clearBus(uint8_t SDA, uint8_t SCL) {
#if defined(TWCR) && defined(TWEN)
#if defined(TWCR) && defined(TWEN)
TWCR &= ~(_BV(TWEN)); // Disable the Atmel 2-Wire interface so we can control the SDA and SCL pins directly
#endif
#endif
pinMode(SDA, INPUT_PULLUP);
pinMode(SCL, INPUT_PULLUP);

4
lib/i2cscan/i2cscan.h
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@@ -11,7 +11,7 @@ namespace I2CSCAN {
bool hasDevOnBus(uint8_t addr);
uint8_t pickDevice(uint8_t addr1, uint8_t addr2, bool scanIfNotFound);
int clearBus(uint8_t SDA, uint8_t SCL);
boolean inArray(uint8_t value, uint8_t* arr, size_t arrSize);
bool inArray(uint8_t value, const uint8_t *array, size_t arraySize);
}
#endif // _I2CSCAN_H_
#endif // _I2CSCAN_H_

2
src/debug.h
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@@ -39,6 +39,8 @@
// disable if problems. Server does nothing with value so disabled atm
#define SEND_ACCELERATION true // send linear acceleration to the server
#define EXT_SERIAL_COMMANDS false // Set to true to enable extra serial debug commands
// Debug information
#define LOG_LEVEL LOG_LEVEL_DEBUG

21
src/serial/serialcommands.cpp
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@@ -35,10 +35,19 @@
#include "nvs_flash.h"
#endif
#ifdef EXT_SERIAL_COMMANDS
#define CALLBACK_SIZE 7 // Increase callback size to allow for debug commands
#include "i2cscan.h"
#endif
#ifndef CALLBACK_SIZE
#define CALLBACK_SIZE 6 // Default callback size
#endif
namespace SerialCommands {
SlimeVR::Logging::Logger logger("SerialCommands");
CmdCallback<6> cmdCallbacks;
CmdCallback<CALLBACK_SIZE> cmdCallbacks;
CmdParser cmdParser;
CmdBuffer<256> cmdBuffer;
@@ -457,6 +466,13 @@ void cmdDeleteCalibration(CmdParser* parser) {
configuration.eraseSensors();
}
#if EXT_SERIAL_COMMANDS
void cmdScanI2C(CmdParser* parser) {
logger.info("Forcing I2C scan...");
I2CSCAN::scani2cports();
}
#endif
void setUp() {
cmdCallbacks.addCmd("SET", &cmdSet);
cmdCallbacks.addCmd("GET", &cmdGet);
@@ -464,6 +480,9 @@ void setUp() {
cmdCallbacks.addCmd("REBOOT", &cmdReboot);
cmdCallbacks.addCmd("DELCAL", &cmdDeleteCalibration);
cmdCallbacks.addCmd("TCAL", &cmdTemperatureCalibration);
#if EXT_SERIAL_COMMANDS
cmdCallbacks.addCmd("SCANI2C", &cmdScanI2C);
#endif
}
void update() { cmdCallbacks.updateCmdProcessing(&cmdParser, &cmdBuffer, &Serial); }