Tutorial #512 – MB1136 – Rotation sensor

/*
**  potentiometer.c - Sample code for HyperpanelOS ========================  **
**                                                                           **
**  This simple code is located into the application container, it is run    **
**  by the VMK sub-operating system. On the other hand, the I/O container    **
**  runs all the drivers that are VMIO finite state machines.                **
**                                                                           **
**  The goal of this small app is to use a analog potentiometer.             **
**                                                                           **
**  =======================================================================  **
*/


/* Documentation for I2C devices --------------------------------------------

   Product used :

   - Ben-Gi Mini ADS115 Module 4 channels 16 bits I2C ADC
     www.amazon.fr/gp/product/B07PK1Z5H1
     datasheet-ads115.pdf - Texas Instruments 
                            16-bit Ananlog-to-Figital Converter

   - Rotation Sensor-L V2 from LattePanda Starter Sensor Set
     www.lattepanda.com
     wiki.dfrobot.com/Analog_Rotation_Sensor_V2__SKU__DFR0058_#target_4

    Potentiometer:

    - The potentiometer send continuous voltage tension from [0v,3.3V] this
      tension is converted by the ADC to a 16-bit value. The app is just a
      main loop who read this 16-bit value (I2C register) each 100 ms.

    - At the position corresponding to minimum value, the potentiometer deliver
      0 V. At the maximum value, the potentiometer delivers 3.3V so we have
      to adapt the ADC settings to this range.

    Analog to Digital Converter (ADC):

    - The ADC use the potentiometer as analog input signal et send digital
      output data to the Pyboard via I2C interface.

    - The ADC converter include one single I2C device. There is 4 analog
      input channels. In this app we use Input 0 (data signal). This
       configuration is setted with bit 14-12 of the configuration register.

    -  We select FS=+/-4.096V for the PGA (Programmable gain amplifier) of the
       ADC (cf.  datasheet of the ADC) to fit with range (0-3.3V] of the
       potentiometer.

    I2C Interface:

    - I2C address are 0x90 (write) and 0x9 (read).

    - The ADS1115 have a configuration register. The app write de configuration
      in the initialisation step, and read the configuration register to check
      that the write operation is ok. Configuration register is set as follow
      (cf.  datasheet page 18/19/20).

      bit 15       Operational status                      0   (default)
      bit 14-12    Multiplexer config - INp=0 INn=GND    100   (INp=0 Nn=GND)
      bit 11-9     Gain amplifier FS= +/- 6.144V         001   (+/-4.06V)
      bit 8        Device operating mode                   0   (continuous)
      bit 7-5      Data rate                             111   (860SPS)
      bit 4        Comparator mode - Traditional           0   (default)
      bit 3        Comparator polarity - Active low        0   (default)
      bit 2        Nn-latching comparator                  0   (default)
      bit 1-0      Disable comparator                     11   (default)

                                            0100001011100011 = 0x42E3


*/
/* Include files and external reference -------------------------------------*/

#include <hypos.h>                     // Hyperpanel OS basic interfaces.
#include <drv_asy.h>                   // Prototype of "asy_write()".
#include <drv_i2c.h>                   // Prototype of "i2c_*()".


/* Internal defines of this module ------------------------------------------*/

#define  TICK                 1000     // Code for tick event.

#define ADC_AD_W              0x90     // I2C dev address - ADC (write)
#define ADC_AD_R              0x91     // I2C dev address - ADC (read)

#define CONVERSION_REG        0x00     // I2C register - Converted value
#define CONFIG_REG            0x01     // I2C register - Configuration

#define INIT                     0     // I2C command - ADC initialisation


/*  Internal global variables of this module --------------------------------*/

    static unsigned int idto         ; // Timer identifier.


/* INIT command .............................................................*/

    static const char init[]         = // I2C command - ADC initialisation
      {

/*    Length-1, Address, Control byte, Data byte                             */

      3, ADC_AD_W , CONFIG_REG       , // Write the configuration register
                    0x42, 0xE3       , // Cf. datasheet page 19)
      0                              , // End of command set
      }                              ; //

    static char   *command[] =         // I2C commands table
      {                                //
        (char*)&init                 , // I2C command - INIT
        (char*)0                       // End of list
      }                              ; //

/*  Prototypes --------------------------------------------------------------*/

    static int  loop_app_task(void*) ; // Prototype
    static int  wait_evt(void)       ; // Prototype
    static void set_command(int)     ; // Prototype


/*  Beginning of the code ---------------------------------------------------

    loop_app_tsk         Application entry point
*/

/*  Procedure loop_app_tsk --------------------------------------------------

    Purpose : This is our task main loop.
*/

int loop_app_tsk (void *param)
  {
    int             ev = TICK        ; // Our event
    char            mess[16]         ; // Message to be sent on ASY0
    unsigned char   frame[16]        ; // I2C read frame
    int             ret = 0          ; // Return procedure code 


/* Step 1 - Start a timer that will send an event every second ..............*/

    set_uto(CLOCK      ,               // Timer mode: clock
            100        ,               // Duration in milliseconds
            TICK , 0   ,               // Event code and reserve field
            &idto     );               // Timer identifier


/* Step 2 - ADC initialisation ..............................................*/

    asy_write(0,(unsigned char*)"Init ... ",9);

    set_command(INIT)                ; // ADC initialization

    asy_write(0,(unsigned char*)"donern",6);

    ret = i2c_read(                    // Just for checking, read the register
                0                    , // I2C controller number
                0                    , // I2C protocol code
                ADC_AD_R             , // Target I2C read address
                CONFIG_REG           , // Sub-address value
                frame                , // Receive data buffer address
                2                    , // Count of bytes to be read
                0                   ); // List of option flags

    hsprintf(mess,
        "Configuration register 0x%02x%02x (%d)rn",
                              frame[0],frame[1],ret);

    asy_write(0                      , // Write on ASY0 the value of the
        (unsigned char*)mess         , // configuration register.
                 strlen(mess)       ); // Count of bytes to be sent


/* Step 3 - Main loop .......................................................*/

    wait_ev :                          // Beginning of loop label
 
    if ( ev == TICK )                  // If the event is the tick event
      {                                //
        frame[0]=0                   ; // Reset frame.
        frame[1]=0                   ; // Reset frame.

        ret = i2c_read(                // Read current value get from the ADC
                    0                , // I2C controller number
                    0                , // I2C controller code
                    ADC_AD_R         , // Target I2C read address
                    CONVERSION_REG   , // Sub-address value
                    frame            , // Receive data buffer address
                    2                , // Count of bytes to be read
                    0               ); // List of option flags

        frame[0]= frame[0] EQ 0xFF ? 0x00 : frame[0];

        hsprintf(mess                , // Message with the 16-bit value.

           "ADC register: 0x%02x%02x -> Button value %03drn",

                   frame[0],frame[1]       , // Conversion Voltage -> [0,127]
                  (frame[0]*0x7f)/0x5c,ret); // (0x5c max value read from
                                             // register with this model of
                                             // potentiometer).

        asy_write(0                  , // Write on ASY0
              (unsigned char*)mess   , // the "mess" message
              strlen(mess)          ); // Count of bytes to be sent
      }

      ev = wait_evt()                ; // Unschedule until an event is received
      goto wait_ev                   ; // Wait for the next event

      return  0                      ; // Return code of the procedure 
    }

/*  Procedure wait_evt ------------------------------------------------------*/
/*
    Purpose : Unschedule until the next event is received, whatever it is.
*/

static int wait_evt (void)
  {
    unsigned int waitlist[1][3]      ; // Parameter of "waitevt_task"

/*****************************************************************************
 * Step 1 : Build a list with one WAIT_CODEINT entry that will accept all    *
 * ------   the event codes ranging from 0 to 20000. Then call               *
 *          "waitevt_task", we will be unscheduled until the next event will *
 *          be received                                                      *
 *****************************************************************************/

    waitlist[0][0]  = WAIT_CODEINT   ; // All events with
    waitlist[0][1]  = 0              ; // a code between 0
    waitlist[0][2]  = 20000          ; // and 20000

    waitevt_task(waitlist ,            // Address of waiting list
                 1        ,            // Size of "waitlist[]"
                 0        ,            // maximum waiting time = no
                 0        )          ; // Do not purge previous events

/*****************************************************************************
 * Step 2 : Here we are scheduled again. The VMK has written into its        *
 * ------   global variable "task_evt" a copy of the event that has          *
 *          scheduled us again.                                              *
 *****************************************************************************/

    return task_evt.code             ; // Return event code
  }


/*  Procedure set_command ---------------------------------------------------*/
/*
    Purpose : Send a set of commands to I2C devices.
*/

static void set_command(int cmd)
  {
    i2c_write(                         // Send I2C command
        0                            , // Controller number
        PRO_I2C_DEV                  , // Protocol code
       -1                            , // Target address unused with FLG_MULTI
        0                            , // Target sub-address
        (unsigned char*)command[cmd] , // Command
        sizeof(command[cmd])         , // Count of bytes unused with FLG_MULTI
        FLG_MULTI                   ); // Several commands in I2C buffer
  }