Sensor ToF vl53l0x with TCA9548A switch

sebastiano1234568 · July 10, 2024, 8:11am

Hello,

I am trying to run Time of Flight sensors (VL53L0X) using the Adafruit_VL53L0X library on an ESP32-S3. Starting from the beginning, the ToF sensors are connected via a TCA9548A, which acts as a switch. First, I create the appropriate Wire instance and scan the entire bus. I find the address 0x70, which is the address of the TCA9539 switch, and so far everything works. Next, I select which channel I want to operate on (selecting an example device) and try to initialize the ToF sensor, but I get the following error:`Bus 0 selected successfully.

[   143][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   160][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   166][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   172][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   179][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   185][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   191][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   197][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   204][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   210][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   216][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   222][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   229][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   235][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   241][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   247][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   254][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   260][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   266][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   272][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   279][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   285][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   292][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   299][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   305][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   311][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   328][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   336][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   342][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   348][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   355][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   361][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   368][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   374][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   381][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   387][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   393][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   400][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   406][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   413][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   420][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
[   426][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1
Failed to boot VL53L0X

Here is the code which i am using:

#include <Arduino.h>
#include <Wire.h>
#include "Adafruit_VL53L0X.h"
//#include <twi.h>  

//https://forum.pololu.com/t/multiple-vl53l0x-sensor-with-tca9548a-i2c-multiplexer-using-median-filter/15227
#define I2C_MASTER_SCL_IO           5    // GPIO number used for I2C master clock
#define I2C_MASTER_SDA_IO           4    // GPIO number used for I2C master data
#define I2C_MASTER_FREQ_HZ          100000 // I2C master clock frequency
#define TCA9539_ADDR                0x74  // I2C address of the TCA9539PWR
#define TOF_G_PIN                   16
#define TOF_R_PIN                   32
#define TOF_B_PIN                   64


void TCA9548A_Select(uint8_t bus);
void tca9539_init();
void tca9539_write_register(uint8_t reg_addr, uint8_t value);
void set_tof(uint8_t red, uint8_t green, uint8_t blue);
#define NUM_SENSORS 6 
Adafruit_VL53L0X lox = Adafruit_VL53L0X();


//Adafruit_VL53L0X lox = Adafruit_VL53L0X();
//Adafruit_VL53L0X lox[NUM_SENSORS];
void setup(){
  Serial.begin(115200);
  Wire.begin(I2C_MASTER_SDA_IO, I2C_MASTER_SCL_IO, I2C_MASTER_FREQ_HZ);
  Wire.setPins(I2C_MASTER_SDA_IO, I2C_MASTER_SCL_IO);
  byte error, address;
  int nDevices;
  tca9539_init();
  set_tof(0,0,0); 

  Serial.println("Scanning...");
  
  nDevices = 0;
  for (address = 1; address < 127; address++) {
    // The i2c_scanner uses the return value of 
    // the Write.endTransmission to see if 
    // a device did acknowledge to the address.
    Wire.beginTransmission(address);
    error = Wire.endTransmission();

    if (error == 0) {
      Serial.print("I2C device found at address 0x");
      if (address < 16)
        Serial.print("0");
      Serial.print(address, HEX);
      Serial.println(" !");

      nDevices++;
    } else if (error == 4) {
      Serial.print("Unknown error at address 0x");
      if (address < 16)
        Serial.print("0");
      Serial.println(address, HEX);
    }
  }
  if (nDevices == 0)
    Serial.println("No I2C devices found\n");
  else
    Serial.println("done\n");

  TCA9548A_Select(0);

    if (!lox.begin()) {
    Serial.println(F("Failed to boot VL53L0X"));
    }else{
      Serial.println(F("VL53L0X booted successfully"));
    }
}

SurferTim · July 10, 2024, 9:24am

I don't see where you included the TCA9548A library.
#include "TCA9548A.h"

sebastiano1234568 · July 10, 2024, 9:28am

i'm not using tca library, because it is not necessary. Here is my function to swithc beetwen devicesusingtca9548a

void TCA9548A_Select(uint8_t bus) {
  Wire.beginTransmission(0x70);  // TCA9548A address is 0x70
  Wire.write(1 << bus);          // send byte to select bus
  uint8_t error = Wire.endTransmission();
  
  if (error == 0) {
    Serial.print("Bus ");
    Serial.print(bus);
    Serial.println(" selected successfully.");
  } else {
    Serial.print("Error selecting bus ");
    Serial.print(bus);
    Serial.print(": ");
    Serial.println(error);
  }
}

SurferTim · July 10, 2024, 9:30am

Where are these functions located?

void TCA9548A_Select(uint8_t bus);
void tca9539_init();
void tca9539_write_register(uint8_t reg_addr, uint8_t value);
void set_tof(uint8_t red, uint8_t green, uint8_t blue);

sebastiano1234568 · July 10, 2024, 9:32am

void tca9539_init() {
    // Ustawienie wszystkich pinów jako wyjścia (0x00)
    tca9539_write_register(0x06, 0x00); // Konfiguracja portu 0
    tca9539_write_register(0x07, 0x00); // Konfiguracja portu 1
}
void tca9539_write_register(uint8_t reg_addr, uint8_t value) {
    Wire.begin();
    Wire.beginTransmission(TCA9539_ADDR);
    Wire.write(reg_addr);
    Wire.write(value);
    Wire.endTransmission();
}

void set_tof(uint8_t red, uint8_t green, uint8_t blue) {
    uint8_t tof_state = (red * TOF_R_PIN | green * TOF_G_PIN | blue * TOF_B_PIN);
    tca9539_write_register(0x03, tof_state); // Ustawienie stanu portu 2
}

sebastiano1234568 · July 10, 2024, 9:33am

these functions was prepared by me

SurferTim · July 10, 2024, 9:36am

I didn't see that in your original code. If you don't post it all, I can't help you.
You only need to call "Wire.begin()" in setup. Why are you calling it again in tca9539_write_register()?

sebastiano1234568 · July 10, 2024, 10:01am

i have wire begin in setup with a proper pins for sda and scl. You are right that wire.begin() i function tca9539_write_register() is not good. but i erased this line and nothing has changed

SurferTim · July 10, 2024, 10:06am

Could it be your Wire.begin() call in setup isn't working with those parameters?

jim-p · July 10, 2024, 10:08am

Post your entire code not just fragments.

sebastiano1234568 · July 10, 2024, 10:11am

#include <Arduino.h>
#include <Wire.h>
#include "Adafruit_VL53L0X.h"
 

//https://forum.pololu.com/t/multiple-vl53l0x-sensor-with-tca9548a-i2c-multiplexer-using-median-filter/15227
#define I2C_MASTER_SCL_IO           5    // GPIO number used for I2C master clock
#define I2C_MASTER_SDA_IO           4    // GPIO number used for I2C master data
#define I2C_MASTER_FREQ_HZ          100000 // I2C master clock frequency
#define TCA9539_ADDR                0x74  // I2C address of the TCA9539PWR
#define TOF_G_PIN                   16
#define TOF_R_PIN                   32
#define TOF_B_PIN                   64


void TCA9548A_Select(uint8_t bus);
void tca9539_init();
void I2Cscanner();
void tca9539_write_register(uint8_t reg_addr, uint8_t value);
void set_tof(uint8_t red, uint8_t green, uint8_t blue);
Adafruit_VL53L0X lox = Adafruit_VL53L0X();

 void setup() {
  Serial.begin(115200);
  Wire.begin(I2C_MASTER_SDA_IO, I2C_MASTER_SCL_IO, I2C_MASTER_FREQ_HZ);
  I2Cscanner();
  tca9539_init();
  set_tof(0,0,0); 

  TCA9548A_Select(0);
   if (!lox.begin()) {
      Serial.println(F("Failed to boot VL53L0X"));
  }else{
      Serial.println(F("VL53L0X booted successfully"));
     }

 }

void loop() {
 

}
void TCA9548A_Select(uint8_t bus) {
  Wire.begin();
  Wire.beginTransmission(0x70);  
  Wire.write(1 << bus);          
  uint8_t error = Wire.endTransmission();
  
  if (error == 0) {
    Serial.print("Bus ");
    Serial.print(bus);
    Serial.println(" selected successfully.");
  } else {
    Serial.print("Error selecting bus ");
    Serial.print(bus);
    Serial.print(": ");
    Serial.println(error);
  }
}

void tca9539_init() {
    tca9539_write_register(0x06, 0x00); 
    tca9539_write_register(0x07, 0x00); 
}
void tca9539_write_register(uint8_t reg_addr, uint8_t value) {
    Wire.begin(I2C_MASTER_SDA_IO, I2C_MASTER_SCL_IO, I2C_MASTER_FREQ_HZ);
    Wire.beginTransmission(TCA9539_ADDR);
    Wire.write(reg_addr);
    Wire.write(value);
    Wire.endTransmission();
}

void set_tof(uint8_t red, uint8_t green, uint8_t blue) {
    uint8_t tof_state = (red * TOF_R_PIN | green * TOF_G_PIN | blue * TOF_B_PIN);
    tca9539_write_register(0x02, tof_state); 
}
  void I2Cscanner() {
  Serial.println ();
  Serial.println ("I2C scanner. Scanning ...");
  byte count = 0;

  Wire.begin(I2C_MASTER_SDA_IO, I2C_MASTER_SCL_IO, I2C_MASTER_FREQ_HZ);
  for (byte i = 8; i < 120; i++)
  {
    Wire.beginTransmission (i);          
    if (Wire.endTransmission () == 0)  
    {
      Serial.print ("Found address: ");
      Serial.print (i, DEC);
      Serial.print (" (0x");
      Serial.print (i, HEX);     
      Serial.println (")");
      count++;
    }
  }
  Serial.print ("Found ");      
  Serial.print (count, DEC);        
  Serial.println (" device(s).");
}

sebastiano1234568 · July 10, 2024, 10:12am

no, i am sure that thisparameters are correct because i used another device and connect properly with this settings of wire

SurferTim · July 10, 2024, 10:13am

How many times are you going to call Wire.begin()? How about using the standard i2c pins and call "Wire.begin()" with no parameters? And only once in setup().

sebastiano1234568 · July 10, 2024, 10:16am

now i am calling wire.begin only in setup(), with no parameters it is not working because wire has default pins like 21, 21 or something like this

SurferTim · July 10, 2024, 10:25am

Some sources say the i2c bus is gpio.8 (SDA) & gpio.9 (SCL).

http://wiki.fluidnc.com/en/hardware/ESP32-S3_Pin_Reference

sebastiano1234568 · July 10, 2024, 10:28am

i use this ESP32-S3-WROOM-1U-N8R8 and i have sda and scl configured as 4 and 5

SurferTim · July 10, 2024, 10:48am

You need call Wire.begin() once in setup. I see 3 calls now in your latest code.
setup()
I2Cscanner()
tca9539_write_register()

That's all I have.

sebastiano1234568 · July 10, 2024, 10:52am

i erase calls from all function except setup()

SurferTim · July 10, 2024, 11:06am

I lied. I have one more thing. What i2c address did you say the TCA9548A has? Didn't it scan at 0x70? If so, why do you think it is at 0x74?

#define TCA9539_ADDR                0x74 

// then later:
    Wire.beginTransmission(TCA9539_ADDR);

sebastiano1234568 · July 10, 2024, 11:09am

I have expander for gpio which is on 0x74 adress and switch for I2C at 0x70.
now i have probably connected ToF but still getting this message after connection [284594][E][Wire.cpp:513] requestFrom(): i2cRead returned Error -1 which means that i have problem still with i2c

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