Mercurial > public > hwos_code
annotate src/compass_ops.asm @ 631:185ba2f91f59
3.09 beta 1 release
| author | heinrichsweikamp |
|---|---|
| date | Fri, 28 Feb 2020 15:45:07 +0100 |
| parents | 237931377539 |
| children | 4050675965ea |
| rev | line source |
|---|---|
| 582 | 1 ;============================================================================= |
| 2 ; | |
| 631 | 3 ; File compass_ops.asm combined next generation V3.08.8 |
| 582 | 4 ; |
| 5 ; Compass Operations | |
| 6 ; | |
| 7 ; Copyright (c) 2011, JD Gascuel, HeinrichsWeikamp, all right reserved. | |
| 8 ;============================================================================= | |
| 9 | |
| 10 #include "hwos.inc" | |
| 11 #include "i2c.inc" | |
| 12 #include "tft_outputs.inc" | |
| 147 | 13 #include "tft.inc" |
| 14 #include "strings.inc" | |
| 623 | 15 #include "wait.inc" |
| 582 | 16 #include "surfmode.inc" |
| 17 #include "divemode.inc" | |
| 18 #include "math.inc" | |
| 19 #include "convert.inc" | |
| 631 | 20 #include "start.inc" |
| 147 | 21 |
| 0 | 22 |
| 623 | 23 IFDEF _compass |
| 24 | |
| 25 | |
| 26 ; local flags | |
| 27 #DEFINE compass_show_cardinal compass_flags,0 ; =1: show the cardinal (N, NE, E, ...) | |
| 28 #DEFINE compass_bearing_eq compass_flags,1 ; =1: bearing is in direction, do not show << or >> | |
| 29 #DEFINE compass_bearing_lft compass_flags,2 ; =1: bearing is to the left/<<, =0: to the right/>> | |
| 30 #DEFINE compass_bearing_vis compass_flags,3 ; =1: bearing is visible (either ahead or behind/-180°) | |
| 31 #DEFINE compass_bearing_ahd compass_flags,4 ; =1: bearing is ahead, =0: behind | |
| 32 ; compass_flags,5 ; --- unused | |
| 33 ; compass_flags,6 ; --- unused | |
| 34 ; compass_flags,7 ; --- unused | |
| 35 | |
| 36 | |
| 0 | 37 ; Make sure symbols from the .inc are available to the C code: |
| 623 | 38 |
| 39 ; filtered data - Compass | |
| 582 | 40 global compass_DX_f |
| 41 global compass_DY_f | |
| 42 global compass_DZ_f | |
| 0 | 43 |
| 623 | 44 ; filtered Data - Accelerometer |
| 582 | 45 global accel_DX_f |
| 46 global accel_DY_f | |
| 47 global accel_DZ_f | |
| 48 | |
| 623 | 49 ; Calibration Data |
| 582 | 50 global compass_CX_f |
| 51 global compass_CY_f | |
| 52 global compass_CZ_f | |
| 0 | 53 |
| 623 | 54 ; Temporary Values to pass Q15 Arithmetics around |
| 582 | 55 global compass_a |
| 56 global compass_b | |
| 0 | 57 |
| 582 | 58 ; Result |
| 623 | 59 global compass_heading_new |
| 0 | 60 |
| 147 | 61 |
| 582 | 62 extern compass |
| 63 extern compass_reset_calibration | |
| 64 extern compass_add_calibration | |
| 65 extern compass_solve_calibration | |
| 623 | 66 |
| 631 | 67 extern option_check_and_store_all |
| 582 | 68 |
|
337
508d7fb98b34
cleanup menu, add "Auto SP" option (Not working yet), minor layout change in compass menu
heinrichsweikamp
parents:
300
diff
changeset
|
69 |
| 623 | 70 compass_ops code |
| 582 | 71 |
| 72 ;============================================================================= | |
| 73 | |
| 0 | 74 ;----------------------------------------------------------------------------- |
| 75 ; Filter compass values | |
| 76 ; | |
| 77 ; Apply linear filtering to input parameters. | |
| 78 | |
| 582 | 79 ; Apply filtering formula: reg_f += (reg - reg_f) / 4 |
| 80 FILTER16 MACRO reg, reg_f | |
| 81 movf reg_f+0,W | |
| 82 subwf reg+0,W | |
| 83 movwf PRODL | |
| 84 movf reg_f+1,W | |
| 85 subwfb reg+1,W | |
| 86 rcall filter_16_common | |
| 87 addwf reg_f+0,F | |
| 88 movf PRODH,W | |
| 89 addwfc reg_f+1,F | |
| 90 ENDM | |
| 148 | 91 |
| 92 filter_16_common: | |
| 582 | 93 movwf PRODH |
| 623 | 94 bcf STATUS,C ; copy sign bit into carry |
| 582 | 95 btfsc PRODH,7 |
| 96 bsf STATUS,C | |
| 623 | 97 rrcf PRODH,F ; 16 bit shift right |
| 582 | 98 rrcf PRODL,F |
| 623 | 99 bcf STATUS,C ; copy sign bit into carry |
| 582 | 100 btfsc PRODH,7 |
| 101 bsf STATUS,C | |
| 623 | 102 rrcf PRODH,F ; 16 bit shift right |
| 582 | 103 rrcf PRODL,W |
| 104 return | |
| 0 | 105 |
| 623 | 106 |
| 582 | 107 global compass_filter |
| 0 | 108 compass_filter: |
| 623 | 109 banksel compass_DX ; select bank common2 |
| 582 | 110 FILTER16 compass_DX, compass_DX_f |
| 111 FILTER16 compass_DY, compass_DY_f | |
| 112 FILTER16 compass_DZ, compass_DZ_f | |
| 113 FILTER16 accel_DX, accel_DX_f | |
| 114 FILTER16 accel_DY, accel_DY_f | |
| 115 FILTER16 accel_DZ, accel_DZ_f | |
| 623 | 116 banksel common ; back to bank common |
| 582 | 117 return |
| 0 | 118 |
| 119 ;----------------------------------------------------------------------------- | |
| 120 | |
| 121 compass_filter_init: | |
| 623 | 122 MOVII compass_DX,compass_DX_f |
| 123 MOVII compass_DY,compass_DY_f | |
| 124 MOVII compass_DZ,compass_DZ_f | |
| 125 | |
| 126 MOVII accel_DX,accel_DX_f | |
| 127 MOVII accel_DY,accel_DY_f | |
| 128 MOVII accel_DZ,accel_DZ_f | |
| 582 | 129 return |
| 0 | 130 |
| 131 ;----------------------------------------------------------------------------- | |
| 132 ; Q15 fractional numbers: a * b / 2**16 (UNSIGNED) | |
| 133 ; | |
| 623 | 134 ; Uses 16x16->16 multiply, for positive integers, keeping only the most |
| 135 ; relevant bits. | |
| 0 | 136 ; |
| 137 ; Used to multiply two Q15 numbers, in the range 0..1, | |
| 138 ; represented as 0..32767, that is a / 2**15. | |
| 139 ; | |
| 140 ; (a/2**15) * (b/2**15) = a*b / 2**30 = (a*b/2**16) / 2**14. | |
| 141 ; So to get back a Q15 number, we need a shift-left... | |
| 623 | 142 |
| 143 global compass_umul ; called from compass.c | |
| 0 | 144 compass_umul: |
| 623 | 145 banksel compass_a ; select bank common2 |
| 582 | 146 rcall compass_mul_16 |
| 0 | 147 |
| 148 ; The 2x time, by left-shifting inserting the missing bit: | |
| 149 compass_mul_2: | |
| 623 | 150 rlcf compass_r+2,F ; missing bit into carry |
| 582 | 151 rlcf compass_r+0,F |
| 152 rlcf compass_r+1,F | |
| 623 | 153 MOVII compass_r,PROD ; return value into PROD |
| 582 | 154 return |
| 0 | 155 |
| 156 ; The 16x16-> multiply: | |
| 157 compass_mul_16: | |
| 623 | 158 movf compass_a+1,W ; block ah*bh |
| 582 | 159 mulwf compass_b+1 |
| 160 movff PRODL,compass_r+0 ; and copy | |
| 161 movff PRODH,compass_r+1 | |
| 0 | 162 |
| 623 | 163 movf compass_a+0,W ; block al*bl |
| 164 mulwf compass_b+0 | |
| 165 movff PRODH,compass_r+2 ; into fraction byte | |
| 0 | 166 |
| 623 | 167 movf compass_a+1,W ; block ah*bl |
| 582 | 168 mulwf compass_b+0 |
| 169 movf PRODL,W | |
| 623 | 170 addwf compass_r+2,F ; fraction part to carry |
| 582 | 171 movf PRODH,W ; and add16 |
| 172 addwfc compass_r+0,F | |
| 173 movlw 0 | |
| 628 | 174 addwfc compass_r+1,F |
| 0 | 175 |
| 623 | 176 movf compass_a+0,W ; block al*bh |
| 582 | 177 mulwf compass_b+1 |
| 178 movf PRODL,W | |
| 623 | 179 addwf compass_r+2,F ; fraction part to carry |
| 582 | 180 movf PRODH,W ; and add16 |
| 181 addwfc compass_r+0,F | |
| 182 movlw 0 | |
| 183 addwfc compass_r+1,F | |
| 0 | 184 |
| 582 | 185 return |
| 0 | 186 |
| 187 ;----------------------------------------------------------------------------- | |
| 188 ; Q15 fractional numbers: a * b / 2**16 (SIGNED) | |
| 189 | |
| 623 | 190 global compass_imul ; called from compass.c |
| 0 | 191 compass_imul: |
| 623 | 192 banksel compass_a ; select bank common2 |
| 582 | 193 rcall compass_mul_16 |
| 0 | 194 |
| 582 | 195 btfss compass_b+1,7 |
| 196 bra compass_mul_3 | |
| 0 | 197 |
| 582 | 198 movf compass_a+0,W |
| 199 subwf compass_r+0,F | |
| 200 movf compass_a+1,W | |
| 201 subwfb compass_r+1,F | |
| 0 | 202 |
| 203 compass_mul_3: | |
| 582 | 204 btfss compass_a+1,7 |
| 205 bra compass_mul_4 | |
| 0 | 206 |
| 582 | 207 movf compass_b+0,W |
| 208 subwf compass_r+0,F | |
| 209 movf compass_b+1,W | |
| 623 | 210 subwfb compass_r+1,F |
| 0 | 211 |
| 212 compass_mul_4: | |
| 628 | 213 bcf compass_r+1,6 ; copy bit 7 to 6, so keep it after 2x |
| 582 | 214 btfsc compass_r+1,7 |
| 215 bsf compass_r+1,6 | |
| 216 bra compass_mul_2 | |
| 0 | 217 |
| 628 | 218 ;----------------------------------------------------------------------------- |
| 623 | 219 |
| 582 | 220 global compass_calibration_loop |
| 628 | 221 compass_calibration_loop: ; compass calibration |
| 222 bsf block_sensor_interrupt ; disable sensor interrupts | |
| 223 call I2C_sleep_compass ; stop compass | |
| 582 | 224 call TFT_ClearScreen |
| 225 ; Mask | |
| 226 WIN_COLOR color_greenish | |
| 227 WIN_SMALL .16,.0 | |
| 228 STRCPY_TEXT_PRINT tCompassMenu | |
| 628 | 229 btfss switch_right2 ; wait until button is released |
| 623 | 230 bra $-2 |
| 147 | 231 |
| 582 | 232 call TFT_standard_color |
| 233 ; WIN_SMALL .0,.215 | |
| 234 ; STRCPY_TEXT_PRINT tExit | |
| 235 WAITMS d'255' | |
| 236 WAITMS d'255' | |
| 147 | 237 |
| 628 | 238 call request_speed_fastest ; request CPU speed change to fastest speed |
| 623 | 239 |
| 628 | 240 movlw .7 ; initialize gain |
| 582 | 241 movff WREG,opt_compass_gain |
| 428 | 242 |
| 628 | 243 movlw .60 ; initialize timeout to 60 seconds |
| 244 movwf isr_timeout_reload ; copy WREG to isr_timeout_reload | |
| 245 bsf reset_timeout ; request ISR to reset the timeout | |
| 246 bcf trigger_timeout ; clear any pending timeout trigger | |
| 247 compass_calibration_gainset: ; reduce the gain, set bank here! | |
| 248 banksel opt_compass_gain ; select bank options table | |
| 249 decf opt_compass_gain,F ; reduce by one | |
| 250 btfsc STATUS,N ; < 0 ? | |
| 251 clrf opt_compass_gain ; YES - keep at zero | |
| 252 btfsc STATUS,N ; < 0 ? | |
| 253 bra compass_calibration_loop1 ; YES - skip gain stuff (Would hang here in case of compass failure) | |
| 254 banksel common ; bank to bank common | |
| 623 | 255 |
| 582 | 256 call I2C_init_compass |
| 257 | |
| 628 | 258 btfsc compass_type3 ; compass type 3 ? |
| 259 bra compass_calibration_loop1 ; YES - skip gain stuff | |
| 260 btfsc compass_type2 ; compass type 2 ? | |
| 261 bra compass_calibration_loop1 ; YES - skip gain stuff | |
| 582 | 262 |
| 628 | 263 rcall TFT_compass_show_gain ; show the current compass gain |
| 147 | 264 |
| 582 | 265 WAITMS d'250' |
| 628 | 266 WAITMS d'250' ; wait for first reading... |
| 147 | 267 |
| 628 | 268 movlw .60 ; calibration shall run for 60 seconds |
| 269 call reset_timeout_time ; set timeout | |
| 147 | 270 |
| 628 | 271 call I2C_RX_compass ; read compass |
| 272 call I2C_RX_accelerometer ; read accelerometer | |
| 147 | 273 |
| 582 | 274 ; Test all axes for +4096 (Hi byte=16) |
| 628 | 275 banksel compass_DX ; select bank common2 |
| 582 | 276 movlw .16 |
| 277 cpfseq compass_DX+1 | |
| 278 bra $+4 | |
| 279 bra compass_calibration_gainset | |
| 280 cpfseq compass_DY+1 | |
| 281 bra $+4 | |
| 282 bra compass_calibration_gainset | |
| 283 cpfseq compass_DZ+1 | |
| 284 bra $+4 | |
| 285 bra compass_calibration_gainset | |
| 147 | 286 |
| 582 | 287 ; Test all axes for -4096 (Hi byte=240) |
| 288 movlw .240 | |
| 289 cpfseq compass_DX+1 | |
| 290 bra $+4 | |
| 291 bra compass_calibration_gainset | |
| 292 cpfseq compass_DY+1 | |
| 293 bra $+4 | |
| 294 bra compass_calibration_gainset | |
| 295 cpfseq compass_DZ+1 | |
| 296 bra $+4 | |
| 297 bra compass_calibration_gainset | |
| 147 | 298 |
| 628 | 299 compass_calibration_loop1: ; done with gain |
| 300 banksel common ; bank to bank common | |
| 301 rcall compass_filter_init ; set DX_f values | |
| 302 call compass_reset_calibration ; reset CX_f values (C-code) | |
| 303 banksel common ; back to bank common | |
| 147 | 304 |
| 305 compass_calibration_loop2: | |
| 628 | 306 call I2C_RX_compass ; read compass |
| 307 call I2C_RX_accelerometer ; test accelerometer | |
| 308 rcall compass_filter ; filter compass raw data | |
| 147 | 309 |
| 582 | 310 ; Twice |
| 628 | 311 call I2C_RX_compass ; read compass |
| 312 call I2C_RX_accelerometer ; test accelerometer | |
| 313 rcall compass_filter ; filter compass raw data | |
| 582 | 314 |
| 628 | 315 ; btfsc compass_type1 ; compass1? |
| 316 ; bra compass_calibration_loop3 ; YES - skip gain stuff | |
| 147 | 317 |
| 582 | 318 ; Test all axes for +4096 (Hi byte=16) |
| 628 | 319 banksel compass_DX ; select bank common2 |
| 582 | 320 movlw .16 |
| 321 cpfseq compass_DX+1 | |
| 322 bra $+4 | |
| 323 bra compass_calibration_gainset | |
| 324 cpfseq compass_DY+1 | |
| 325 bra $+4 | |
| 326 bra compass_calibration_gainset | |
| 327 cpfseq compass_DZ+1 | |
| 328 bra $+4 | |
| 329 bra compass_calibration_gainset | |
| 147 | 330 |
| 582 | 331 ; Test all axes for -4096 (Hi byte=240) |
| 332 movlw .240 | |
| 333 cpfseq compass_DX+1 | |
| 334 bra $+4 | |
| 335 bra compass_calibration_gainset | |
| 336 cpfseq compass_DY+1 | |
| 337 bra $+4 | |
| 338 bra compass_calibration_gainset | |
| 339 cpfseq compass_DZ+1 | |
| 340 bra $+4 | |
| 341 bra compass_calibration_gainset | |
| 628 | 342 banksel common ; back to bank common |
| 147 | 343 ; |
| 582 | 344 ; ; Three |
| 628 | 345 ; call I2C_RX_compass ; read compass |
| 346 ; call I2C_RX_accelerometer ; test accelerometer | |
| 347 ; call compass_filter ; filter compass raw data | |
| 147 | 348 ; |
| 582 | 349 ; ; Four times to get cleaner values |
| 628 | 350 ; call I2C_RX_compass ; read compass |
| 351 ; call I2C_RX_accelerometer ; test accelerometer | |
| 352 ; call compass_filter ; filter compass raw data | |
| 147 | 353 |
| 428 | 354 compass_calibration_loop3: |
| 623 | 355 ; and register only one value out of four: |
| 628 | 356 call compass_add_calibration ; check and store new max/min values (C-code) |
| 357 banksel common ; back to bank common | |
| 147 | 358 |
| 628 | 359 rcall TFT_compass_fast ; show values |
| 360 btfsc trigger_timeout ; timeout (calibration done)? | |
| 361 bra compass_calibration_exit ; YES - done | |
| 362 btfss trigger_full_second ; NO - new second begun? | |
| 631 | 363 bra compass_calibration_loop2 ; NO - loop |
| 628 | 364 bcf trigger_full_second ; YES - clear flag |
| 365 rcall TFT_show_timeout_testmode ; - show remaining time | |
| 366 bra compass_calibration_loop2 ; - loop | |
| 147 | 367 |
| 368 compass_calibration_exit: | |
| 628 | 369 bcf block_sensor_interrupt ; re-enable sensor interrupts |
| 623 | 370 |
| 628 | 371 call compass_solve_calibration ; calculate calibration factors (C-code) |
| 372 banksel common ; back to bank common | |
| 373 | |
| 374 call request_speed_normal ; request CPU speed change to normal speed | |
| 623 | 375 |
| 631 | 376 bsf options_changed ; flag that option values have changed |
| 377 bsf restart_fast ; request to skip logos and waits on restart | |
| 378 | |
| 379 movlw .6 ; coding for surface compass view | |
| 380 movff WREG,customview_surfmode ; set to compass view to show | |
| 381 | |
| 382 goto restart ; done | |
| 623 | 383 |
| 628 | 384 ;----------------------------------------------------------------------------- |
| 147 | 385 |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
386 TFT_compass_fast: |
| 628 | 387 WIN_TINY .0,.50 |
| 388 STRCPY "Cx:" | |
| 623 | 389 MOVII compass_DX,mpr |
| 628 | 390 call TFT_convert_signed_16bit ; convert lo:hi into signed-short and add '-' to POSTINC2 if required |
| 391 output_16 | |
| 392 STRCAT " Cy:" | |
| 393 MOVII compass_DY,mpr | |
| 394 call TFT_convert_signed_16bit ; convert lo:hi into signed-short and add '-' to POSTINC2 if required | |
| 395 output_16 | |
| 396 STRCAT " Cz:" | |
| 397 MOVII compass_DZ,mpr | |
| 398 call TFT_convert_signed_16bit ; convert lo:hi into signed-short and add '-' to POSTINC2 if required | |
| 582 | 399 output_16 |
| 628 | 400 STRCAT_PRINT " " |
| 401 | |
| 402 WIN_TINY .0,.104 | |
| 403 STRCPY "Ax:" | |
| 404 MOVII accel_DX,mpr | |
| 405 call TFT_convert_signed_16bit ; convert lo:hi into signed-short and add '-' to POSTINC2 if required | |
| 582 | 406 output_16 |
| 628 | 407 STRCAT " Ay:" |
| 408 MOVII accel_DY,mpr | |
| 409 call TFT_convert_signed_16bit ; convert lo:hi into signed-short and add '-' to POSTINC2 if required | |
| 410 output_16 | |
| 411 STRCAT " Az:" | |
| 412 MOVII accel_DZ,mpr | |
| 413 call TFT_convert_signed_16bit ; convert lo:hi into signed-short and add '-' to POSTINC2 if required | |
| 582 | 414 output_16 |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
415 STRCAT_PRINT " " |
| 582 | 416 return |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
417 |
| 623 | 418 TFT_show_timeout_testmode: |
| 628 | 419 WIN_TINY .0,.68 |
| 582 | 420 STRCPY "T:" |
| 623 | 421 movff isr_timeout_timer,lo |
| 582 | 422 bsf leftbind |
| 628 | 423 output_8 ; display remaining time |
| 582 | 424 bcf leftbind |
| 425 STRCAT_PRINT "s " | |
| 426 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
427 |
| 628 | 428 TFT_compass_show_gain: ; show the current compass gain |
| 429 ; movff opt_compass_gain,lo ; 0-7 (230 LSB/Gauss to 1370 LSB/Gauss) | |
| 582 | 430 ; tstfsz lo |
| 628 | 431 ; return ; do not show unless gain=0 |
| 432 WIN_TINY .0,.86 | |
| 582 | 433 STRCPY_TEXT tCompassGain |
| 628 | 434 movff opt_compass_gain,lo ; 0-7 (230 LSB/Gauss to 1370 LSB/Gauss) |
| 582 | 435 bsf leftbind |
| 436 output_8 | |
| 437 bcf leftbind | |
| 438 STRCAT_PRINT "" | |
| 439 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
440 |
| 628 | 441 ;----------------------------------------------------------------------------- |
| 623 | 442 |
| 582 | 443 global TFT_surface_compass_mask |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
444 TFT_surface_compass_mask: |
| 582 | 445 WIN_SMALL surf_compass_mask_column,surf_compass_mask_row |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
446 call TFT_standard_color |
| 628 | 447 STRCPY_TEXT_PRINT tHeading ; print "Heading:" |
| 582 | 448 return |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
449 |
| 623 | 450 |
| 628 | 451 global TFT_dive_compass_mask ; draws the white box around the heading tape |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
452 TFT_dive_compass_mask: |
| 582 | 453 WIN_FRAME_STD dm_custom_compass_graph_row, dm_custom_compass_graph_row+dm_custom_compass_graph_height, .0, .159 |
| 454 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
455 |
| 623 | 456 |
| 582 | 457 global TFT_surface_compass_heading |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
458 TFT_surface_compass_heading: |
| 582 | 459 rcall compass_heading_common |
| 460 WIN_STD surf_compass_head_column,surf_compass_head_row | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
461 call TFT_standard_color |
| 628 | 462 TFT_surface_compass_heading_com: ; show "000° N" |
| 463 movff compass_heading_new+1,WREG ; get upper byte of actual heading | |
| 464 btfsc WREG,7 ; compass calibrated? | |
| 465 bra TFT_compass_uncalibrated ; NO | |
| 466 MOVII compass_heading_shown,mpr ; get heading to be shown | |
| 467 rcall TFT_compass_helper ; show heading and its cardinal | |
| 468 btfsc divemode ; in dive mode? | |
| 469 return ; YES - done for dive mode | |
| 470 ; in surface mode - shall show bearing? | |
| 471 btfss compass_bearing_set ; is a bearing set? | |
| 472 return ; NO - done | |
| 473 btfsc compass_menu ; is the "set bearing" selection shown? | |
| 474 return ; YES - done | |
| 475 ; show bearing | |
| 476 WIN_SMALL surf_compass_bear_column,surf_compass_bear_row | |
| 477 call TFT_attention_color | |
| 478 MOVII compass_bearing,mpr ; get bearing | |
| 479 ;bra TFT_compass_helper ; show number and cardinal and return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
480 |
| 628 | 481 TFT_compass_helper: |
| 582 | 482 bsf leftbind |
| 628 | 483 output_16dp .2 ; result is "0.000" in buffer |
| 582 | 484 bcf leftbind |
| 485 ; rearrange figures to "000" | |
| 486 movff buffer+2,buffer+0 | |
| 487 movff buffer+3,buffer+1 | |
| 488 movff buffer+4,buffer+2 | |
| 489 lfsr FSR2,buffer+3 | |
| 490 STRCAT "° " | |
| 628 | 491 rcall tft_compass_cardinal ; add cardinal to POSTINC2 |
| 492 STRCAT_PRINT "" ; finalize output | |
| 493 return ; done | |
| 494 | |
| 495 TFT_compass_uncalibrated: | |
| 496 STRCAT_PRINT "---°" ; print "---°" | |
| 497 return ; done | |
| 382 | 498 |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
499 |
| 582 | 500 global TFT_dive_compass_heading |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
501 TFT_dive_compass_heading: |
| 582 | 502 rcall compass_heading_common |
| 628 | 503 WIN_FONT FT_SMALL ; set font size |
| 504 | |
| 623 | 505 ; ; ### for development only, hard-coding the bearing ### |
| 582 | 506 ; ; 244° : SW - W |
| 628 | 507 ; MOVLI .244,xA ; xA used as temp |
| 508 ; MOVII xA,compass_bearing ; compass_bearing is stored in bank isr_backup | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
509 |
| 623 | 510 MOVII compass_heading_shown,xA |
| 511 ; 160° viewing angle: add +360 offset if xA <= 292 for non-negative scale | |
| 512 MOVLI .292,sub_a | |
| 513 MOVII xA, sub_b | |
| 628 | 514 call subU16 ; sub_c = sub_a - sub_b |
| 515 btfsc neg_flag ; xA > 292 ? | |
| 516 bra TFT_dive_compass_heading_1 ; YES | |
| 517 ADDLI .360,xA ; NO - add offset | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
518 TFT_dive_compass_heading_1: |
| 628 | 519 SUBLI .80,xA ; subtract 80 (left pixel offset from the center) |
| 520 MOVII xA,xRD ; save result to xRD | |
| 521 ADDLI .160,xA ; add 160 (display with in pixels) | |
| 522 MOVII xA,xRDr ; save result to xRDr | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
523 |
| 628 | 524 btfss compass_bearing_set ; is a bearing set? |
| 525 bra TFT_dive_compass_ruler ; NO - skip next calculations | |
| 526 MOVII xRDr,sub_a ; YES - calculate xRD180 = xRDr - 180 | |
| 623 | 527 MOVLI .180,sub_b |
| 628 | 528 call subU16 ; sub_c = sub_a - sub_b |
| 623 | 529 MOVII sub_c,xRD180 |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
530 |
| 258 | 531 TFT_dive_compass_bearing_1: |
| 582 | 532 ; calculate bearing position and visibility (ahead or behind) |
| 628 | 533 bcf compass_bearing_vis ; default is not-visible |
| 534 bcf compass_bearing_ahd ; default is behind | |
| 623 | 535 MOVII compass_bearing,xA |
| 628 | 536 ADDLI .360,xA ; calculate the bearing virtual display offset |
| 537 MOVII xA,divA ; save it for reuse for upper/lower turns and ahead/behind checks | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
538 |
| 623 | 539 ; check if bearing is ahead |
| 628 | 540 MOVII divA,sub_a ; load the bearing offset into sub_a |
| 541 MOVII xRD, sub_b ; load the display offset back to sub_b | |
| 582 | 542 rcall TFT_dive_compass_bearing_ap |
| 628 | 543 btfsc compass_bearing_vis ; bearing visible? |
| 544 bra TFT_dive_compass_bearing_dir; YES | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
545 |
| 628 | 546 ; check if it is ahead with an upper turn |
| 547 MOVII divA,sub_a ; load the bearing offset into sub_a | |
| 548 MOVII xRD, sub_b ; load the display offset back to sub_b | |
| 623 | 549 ADDLI .360,sub_b |
| 582 | 550 rcall TFT_dive_compass_bearing_ap |
| 628 | 551 btfsc compass_bearing_vis ; bearing visible? |
| 552 bra TFT_dive_compass_bearing_dir; YES | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
553 |
| 628 | 554 ; check if it is ahead with a lower turn |
| 555 MOVII divA,sub_a ; load the bearing offset into sub_a | |
| 623 | 556 ADDLI .360,sub_a |
| 628 | 557 MOVII xRD, sub_b ; load the display offset back to sub_b |
| 582 | 558 rcall TFT_dive_compass_bearing_ap |
| 628 | 559 btfsc compass_bearing_vis ; bearing visible? |
| 560 bra TFT_dive_compass_bearing_dir; YES | |
| 258 | 561 |
| 623 | 562 ; marker is not ahead of us, check if it is behind of us |
| 582 | 563 ; use the (160 - (xRD180 - xCM)) formula to see if it's on the display |
| 628 | 564 MOVII xRD180,sub_a ; load the display offset back to sub_a |
| 565 MOVII divA, sub_b ; load the marker's offset into sub_b | |
| 582 | 566 rcall TFT_dive_compass_bearing_bp |
| 628 | 567 btfsc compass_bearing_vis ; bearing behind of us? |
| 568 bra TFT_dive_compass_bearing_dir; YES | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
569 |
| 628 | 570 ; check if it is behind with the upper turn |
| 623 | 571 MOVII xRD180,sub_a |
| 572 MOVII divA, sub_b | |
| 573 ADDLI .360, sub_b | |
| 574 rcall TFT_dive_compass_bearing_bp | |
| 628 | 575 btfsc compass_bearing_vis ; bearing behind of us? |
| 576 bra TFT_dive_compass_bearing_dir; YES | |
| 623 | 577 |
| 628 | 578 ; check if it is behind with the lower turn |
| 623 | 579 MOVII xRD180,sub_a |
| 580 ADDLI .360, sub_a | |
| 628 | 581 MOVII divA, sub_b ; load the marker's offset into sub_b |
| 582 | 582 rcall TFT_dive_compass_bearing_bp |
| 583 bra TFT_dive_compass_bearing_dir | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
584 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
585 TFT_dive_compass_bearing_ap: |
| 582 | 586 ; xCM received in sub_a |
| 587 ; xRD received in sub_b | |
| 588 ; 1/a. check if it's viewable from the left side | |
| 628 | 589 call subU16 ; sub_c = sub_a - sub_b |
| 590 btfsc neg_flag ; xRD > divA ? | |
| 591 return ; NO - done | |
| 592 MOVII sub_c,xC ; YES - store the RO=RP-RD for drawing | |
| 623 | 593 ; 1/b. check if it's viewable from the right side |
| 628 | 594 ADDLI .2,sub_a ; avoid thin mess on the side of the display |
| 595 ADDLI .158,sub_b ; load the display offset right side into sub_b | |
| 596 call subU16 ; sub_c = sub_a - sub_b | |
| 597 btfss neg_flag ; xRDr > xA(+2) ? | |
| 598 return ; NO - done | |
| 599 ; YES - print the bearing lines on the screen | |
| 582 | 600 movff xC+0,xCM |
| 628 | 601 bsf compass_bearing_vis ; set visible |
| 602 bsf compass_bearing_ahd ; set ahead | |
| 603 return ; done | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
604 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
605 TFT_dive_compass_bearing_bp: |
| 582 | 606 ; use the (160 - (xRD180 - xCM)) formula to see if it's on the display |
| 607 ; the marker's offset received in sub_b | |
| 608 ; the xRD180 display offset received in sub_a | |
| 609 ; xRD180 - xCM | |
| 628 | 610 call subU16 ; sub_c = sub_a - sub_b |
| 611 btfsc neg_flag ; CM > xRD180 ? | |
| 612 return ; NO - not on screen, done | |
| 613 ; YES - check 160 - (X) | |
| 614 MOVLI .158, sub_a ; 158 to avoid thin mess on the side of the display | |
| 623 | 615 MOVII sub_c,sub_b |
| 628 | 616 call subU16 ; sub_c = sub_a - sub_b |
| 617 btfsc neg_flag ; X > 160 ? | |
| 618 return ; NO - not on screen, done | |
| 623 | 619 ; check if not overflow - this sounds like a double check... |
| 628 | 620 tstfsz sub_c+1 ; high byte = 0 ? |
| 621 return ; NO - sub_c must be > 160 then, done | |
| 622 movlw d'158' ; YES - load a 158 | |
| 623 cpfslt sub_c+0 ; - low byte < 158 ? | |
| 624 return ; NO - done | |
| 625 movff sub_c+0,xCM ; YES - print the bearing lines on the screen | |
| 626 bsf compass_bearing_vis ; - flag to show bearing lines | |
| 627 return ; - done | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
628 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
629 TFT_dive_compass_bearing_dir: |
| 582 | 630 ; check if bearing to heading, and calculate the direction |
| 631 bcf compass_bearing_eq | |
| 632 btfss compass_bearing_vis | |
| 633 bra TFT_dive_compass_bearing_lr | |
| 634 btfss compass_bearing_ahd | |
| 635 bra TFT_dive_compass_bearing_lr | |
| 636 movff xCM,xA+0 | |
| 637 movlw d'80' | |
| 638 cpfseq xA+0 | |
| 639 bra TFT_dive_compass_bearing_lr | |
| 640 bsf compass_bearing_eq | |
| 628 | 641 bra TFT_dive_compass_ruler ; bearing points to heading, no signs are required, go to the ruler |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
642 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
643 TFT_dive_compass_bearing_lr: |
| 582 | 644 ; get the bearing virtual display offset |
| 623 | 645 MOVII compass_bearing,xA |
| 646 ; xA = xA > 292 ? xA : xA+360 | |
| 647 MOVLI .292,sub_a | |
| 648 MOVII xA, sub_b | |
| 628 | 649 call subU16 ; sub_c = sub_a - sub_b |
| 650 btfsc neg_flag ; xA > 292 ? | |
| 651 bra TFT_dive_compass_bearing_lr_1; YES | |
| 652 ADDLI .360,xA ; NO - add 360 | |
| 623 | 653 |
| 258 | 654 TFT_dive_compass_bearing_lr_1: |
| 582 | 655 ; 1. calculate whether bearing is to left or to right |
| 628 | 656 bsf compass_bearing_lft ; to the left by default |
| 582 | 657 ; xC: save center value to compare the direction to front value |
| 623 | 658 MOVII xA,xC |
| 582 | 659 ; xB: we need the left side for comparison... left = -180 |
| 623 | 660 MOVII xA, sub_a |
| 661 MOVLI .180,sub_b | |
| 628 | 662 call subU16 ; sub_c = sub_a - sub_b |
| 663 MOVII sub_c,xB ; xB has the left side of the 180° distance center | |
| 623 | 664 ; xA = xRD > (xC+100) ? RD-280 : xRD+80 |
| 665 MOVII xC, sub_a | |
| 666 ADDLI .100,sub_a | |
| 667 MOVII xRD, sub_b | |
| 628 | 668 call subU16 ; sub_c = sub_a - sub_b |
| 669 btfsc neg_flag ; xRD > xC + 100 ? | |
| 670 bra TFT_dive_compass_bearing_lr_2; YES - xA = xRD - 280 | |
| 671 ; NO - xA = xRD + 80 | |
| 623 | 672 MOVII xRD,xA |
| 673 ADDLI .80,xA | |
| 582 | 674 bra TFT_dive_compass_bearing_lr_c |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
675 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
676 TFT_dive_compass_bearing_lr_2: |
| 623 | 677 MOVII xRD,sub_a |
| 678 MOVLI .280,sub_b | |
| 628 | 679 call subU16 ; sub_c = sub_a - sub_b |
| 623 | 680 MOVII sub_c,xA |
| 582 | 681 ;bra TFT_dive_compass_bearing_lr_c |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
682 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
683 TFT_dive_compass_bearing_lr_c: |
| 582 | 684 ; xB < xA < xC => right, otherwise left (default) |
| 623 | 685 MOVII xA,sub_b |
| 686 MOVII xB,sub_a | |
| 628 | 687 call subU16 ; sub_c = sub_a - sub_b |
| 688 btfss neg_flag ; xA > xB ? | |
| 689 bra TFT_dive_compass_ruler ; NO - xB >= xA, keep default left | |
| 623 | 690 MOVII xA,sub_a |
| 691 MOVII xC,sub_b | |
| 628 | 692 call subU16 ; sub_c = sub_a - sub_b |
| 693 btfss neg_flag ; xC > xA ? | |
| 694 bra TFT_dive_compass_ruler ; NO - xA >= xC, keep default left | |
| 582 | 695 bcf compass_bearing_lft |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
696 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
697 TFT_dive_compass_ruler: |
| 582 | 698 ; calculate mod15 for the ticks |
| 623 | 699 MOVII xRD,xA |
| 700 MOVLI .15,xB | |
| 628 | 701 call div16x16 ; xA/xB=xC with xA+0 as remainder |
| 623 | 702 ; check the remainder |
| 582 | 703 movlw d'0' |
| 628 | 704 cpfsgt xA+0 ; mod15 > 0 ? |
| 705 bra TFT_dive_compass_ruler_1 ; NO - RM = 0 | |
| 706 ; YES - RM = 15 - RDmod15 | |
| 582 | 707 movlw d'15' |
| 623 | 708 subfwb xA+0,F |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
709 TFT_dive_compass_ruler_1: |
| 628 | 710 movff xA+0,lo ; xA+0 holds the RM, store it to 'lo' |
| 711 clrf hi ; initialize DD to zero, store it to 'hi' | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
712 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
713 TFT_dive_compass_ruler_loop: |
| 623 | 714 ; 1. check if we run out of the display |
| 628 | 715 movlw d'159' ; looks like 159 works because TFT_box limits the display |
| 582 | 716 cpfslt lo,1 |
| 628 | 717 bra TFT_dive_compass_ruler_lend ; xRM >= W |
| 582 | 718 ; 2. Clear the tick area from DD to RM - in segments to avoid blinking |
| 719 ; don't do a clear if we are at 0 (zero) otherwise it will blink | |
| 720 ; because of the width underflow | |
| 721 movlw d'0' | |
| 722 cpfsgt lo,1 | |
| 723 bra TFT_dive_compass_ruler_loop_zz | |
| 724 rcall TFT_dive_compass_clr_ruler | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
725 TFT_dive_compass_ruler_loop_zz: |
| 582 | 726 ; 3. Draw the markers @ RM |
| 727 ; we receive RM in lo and DD in hi | |
| 728 movlw d'2' | |
| 628 | 729 movwf win_bargraph ; set with of ticks |
| 582 | 730 movwf win_width+0 |
| 731 clrf win_width+1 | |
| 628 | 732 movff lo,win_leftx2 ; 0..159 |
| 733 movlw dm_custom_compass_tick_top_top | |
| 734 movwf win_top ; set position for upper ticks | |
| 582 | 735 movlw dm_custom_compass_tick_height |
| 628 | 736 movwf win_height ; set hight of ticks |
| 737 call TFT_standard_color ; set color | |
| 738 call TFT_box ; draw tick | |
| 739 movlw dm_custom_compass_tick_bot_top | |
| 740 movwf win_top ; set position for lower ticks | |
| 741 movlw dm_custom_compass_tick_height | |
| 742 movwf win_height ; set hight of ticks | |
| 743 call TFT_standard_color ; color in WREG is trashed, must be set again! | |
| 744 call TFT_box ; draw tick | |
| 745 ; 4. If D < 82 and RM > 79: means we put something over the center line, | |
| 746 ; so redraw the center line | |
| 582 | 747 movlw d'82' |
| 748 cpfslt hi,1 | |
| 749 bra TFT_dive_compass_ruler_loop_zz2 | |
| 750 movlw d'79' | |
| 751 cpfsgt lo,1 | |
| 752 bra TFT_dive_compass_ruler_loop_zz2 | |
| 623 | 753 ; enough to print center line as bearing marker is not in the ticker area |
| 628 | 754 rcall TFT_dive_compass_c ; draw center line in yellow |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
755 TFT_dive_compass_ruler_loop_zz2: |
| 582 | 756 ; 5. set D = RM + 2 : position after the 2px tick |
| 757 movff lo,hi | |
| 758 movlw d'2' | |
| 759 addwf hi,F | |
| 760 ; 6. set RM = RM + 15 : position to the next tick | |
| 761 movlw d'15' | |
| 762 addwf lo,F | |
| 763 ; 7. loop | |
| 764 bra TFT_dive_compass_ruler_loop | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
765 |
| 628 | 766 TFT_dive_compass_ruler_lend: ; loop end |
| 767 ; 8. clear the rest of the tick area if D < 160 | |
| 582 | 768 movlw d'160' |
| 769 cpfslt hi | |
| 628 | 770 bra TFT_dive_compass_labels ; D >= W |
| 582 | 771 ; 9. position left to end of display to clear the remaining area |
| 772 movlw d'159' | |
| 773 movwf lo | |
| 774 ; 10. clear it | |
| 775 rcall TFT_dive_compass_clr_ruler | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
776 |
| 628 | 777 TFT_dive_compass_labels: |
| 582 | 778 ; done with the compass ruler, put the labels on the screen |
| 628 | 779 clrf hi ; hi stores the display position |
| 780 movff hi,xHI ; bank-safe clear of xHI | |
| 781 clrf lo ; lo stores the last item's display position | |
| 782 movff lo,xLO ; bank-safe clear of xLO | |
| 783 MOVLI .219,sub_a ; position of the cardinal | |
| 784 MOVII xRD, sub_b ; get the RD back to sub_b | |
| 785 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 786 btfss compass_show_cardinal ; shall show cardinal? | |
| 787 bra dcr_1 ; NO | |
| 788 STRCPY_TEXT_PRINT tSW ; YES - print it | |
| 582 | 789 dcr_1: |
| 628 | 790 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 791 MOVLI .267,sub_a ; position of the cardinal | |
| 792 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 793 btfss compass_show_cardinal ; shall show cardinal? | |
| 794 bra dcr_2 ; NO | |
| 795 STRCPY_TEXT_PRINT tW ; YES - print it | |
| 582 | 796 dcr_2: |
| 628 | 797 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 798 MOVLI .309,sub_a ; position of the cardinal | |
| 799 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 800 btfss compass_show_cardinal ; shall show cardinal? | |
| 801 bra dcr_3 ; NO | |
| 802 STRCPY_TEXT_PRINT tNW ; YES - print it | |
| 582 | 803 dcr_3: |
| 628 | 804 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 805 MOVLI .358,sub_a ; position of the cardinal | |
| 806 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 807 btfss compass_show_cardinal ; shall show cardinal? | |
| 808 bra dcr_4 ; NO | |
| 809 STRCPY_TEXT_PRINT tN ; YES - print it | |
| 582 | 810 dcr_4: |
| 628 | 811 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 812 MOVLI .399,sub_a ; position of the cardinal | |
| 813 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 814 btfss compass_show_cardinal ; shall show cardinal? | |
| 815 bra dcr_5 ; NO | |
| 816 STRCPY_TEXT_PRINT tNE ; YES - print it | |
| 582 | 817 dcr_5: |
| 628 | 818 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 819 MOVLI .448,sub_a ; position of the cardinal | |
| 820 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 821 btfss compass_show_cardinal ; shall show cardinal? | |
| 822 bra dcr_6 ; NO | |
| 823 STRCPY_TEXT_PRINT tE ; YES - print it | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
824 dcr_6: |
| 628 | 825 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 826 MOVLI .489,sub_a ; position of the cardinal | |
| 827 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 828 btfss compass_show_cardinal ; shall show cardinal? | |
| 829 bra dcr_7 ; NO | |
| 830 STRCPY_TEXT_PRINT tSE ; YES - print it | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
831 dcr_7: |
| 628 | 832 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 833 MOVLI .538,sub_a ; position of the cardinal | |
| 834 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 835 btfss compass_show_cardinal ; shall show cardinal? | |
| 836 bra dcr_8 ; NO | |
| 837 STRCPY_TEXT_PRINT tS ; YES - print it | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
838 dcr_8: |
| 628 | 839 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 840 MOVLI .579,sub_a ; position of the cardinal | |
| 841 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 842 btfss compass_show_cardinal ; shall show cardinal? | |
| 843 bra dcr_9 ; NO | |
| 844 STRCPY_TEXT_PRINT tSW ; YES - print it | |
| 582 | 845 dcr_9: |
| 628 | 846 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 847 MOVLI .627,sub_a ; position of the cardinal | |
| 848 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 849 btfss compass_show_cardinal ; shall show cardinal? | |
| 850 bra dcr_10 ; NO | |
| 851 STRCPY_TEXT_PRINT tW ; YES - print it | |
| 582 | 852 dcr_10: |
| 628 | 853 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 854 MOVLI .669,sub_a ; position of the cardinal | |
| 855 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 856 btfss compass_show_cardinal ; shall show cardinal? | |
| 857 bra dcr_11 ; NO | |
| 858 STRCPY_TEXT_PRINT tNW ; YES - print it | |
| 582 | 859 dcr_11: |
| 628 | 860 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 861 MOVLI .718,sub_a ; position of the cardinal | |
| 862 rcall TFT_dive_compass_label_proc ; check if the cardinal shall be on screen | |
| 863 btfss compass_show_cardinal ; shall show? | |
| 864 bra dcr_12 ; NO | |
| 865 STRCPY_TEXT_PRINT tN ; YES - print it | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
866 dcr_12: |
| 628 | 867 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
868 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
869 TFT_dive_compass_label_end: |
| 628 | 870 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 582 | 871 ; restore lo and hi for the final cleanup |
| 628 | 872 movff xLO,lo ; xLO and xHI are stored in bank isr_backup |
| 582 | 873 movff xHI,hi |
| 628 | 874 ; clear the rest of the SQ area if there is more space |
| 582 | 875 movlw d'159' |
| 876 cpfslt hi | |
| 628 | 877 bra TFT_dive_compass_label_end2 ; D >= 160, no more space |
| 582 | 878 ; position left to end of display to clear the remaining area |
| 879 movlw d'158' | |
| 880 movwf lo | |
| 881 ; clear it | |
| 882 rcall TFT_dive_compass_clr_label | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
883 TFT_dive_compass_label_end2: |
| 628 | 884 rcall TFT_dive_compass_c_mk ; check if cardinal is on the center line or the marker |
| 582 | 885 ; do we have bearing set? |
| 628 | 886 btfsc compass_bearing_set ; bearing set? |
| 887 bra TFT_dive_compass_dir_text ; YES - print the direction (<< or >>) | |
| 888 rcall TFT_dive_compass_dir_lclr ; NO - clear the area (e.g. we had but removed) | |
| 582 | 889 rcall TFT_dive_compass_dir_rclr |
| 890 bra TFT_dive_compass_text | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
891 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
892 TFT_dive_compass_dir_text: |
| 582 | 893 ; bearing set, but does it point to heading? |
| 894 btfss compass_bearing_eq | |
| 628 | 895 bra TFT_dive_compass_dir_text_2 ; bearing != heading - go and print the direction |
| 896 rcall TFT_dive_compass_dir_lclr ; bearing == heading - no need for direction markers | |
| 582 | 897 rcall TFT_dive_compass_dir_rclr |
| 898 bra TFT_dive_compass_text | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
899 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
900 TFT_dive_compass_dir_text_2: |
| 582 | 901 movlw color_green |
| 902 call TFT_set_color | |
| 903 btfsc compass_bearing_lft | |
| 628 | 904 bra TFT_dive_compass_dir_ldir ; bearing_lft=1, print the left marker |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
905 ;TFT_dive_compass_text_rdir: |
| 582 | 906 WIN_SMALL dm_custom_compass_rdir_column, dm_custom_compass_head_row-.2 |
| 907 STRCPY_PRINT ">>" | |
| 628 | 908 rcall TFT_dive_compass_dir_lclr ; do not forget to clear the left |
| 582 | 909 bra TFT_dive_compass_text |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
910 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
911 TFT_dive_compass_dir_ldir: |
| 582 | 912 WIN_SMALL dm_custom_compass_ldir_column, dm_custom_compass_head_row-.2 |
| 913 STRCPY_PRINT "<<" | |
| 628 | 914 rcall TFT_dive_compass_dir_rclr ; do not forget to clear the right |
| 582 | 915 ;bra TFT_dive_compass_text |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
916 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
917 TFT_dive_compass_text: |
| 582 | 918 ; Clear some unused space on the right mH |
| 919 WIN_BOX_BLACK dm_custom_compass_tick_top_bot+.1,dm_custom_compass_tick_bot_top-.1,.158,.159 ; top, bottom, left, right | |
| 371 | 920 |
| 582 | 921 ; Text output |
| 922 call TFT_standard_color | |
| 923 WIN_SMALL dm_custom_compass_head_column, dm_custom_compass_head_row | |
| 628 | 924 rcall TFT_surface_compass_heading_com ; show "xxx° N" |
| 582 | 925 return |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
926 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
927 TFT_dive_compass_dir_lclr: |
| 582 | 928 WIN_SMALL dm_custom_compass_ldir_column, dm_custom_compass_head_row-.2 |
| 929 STRCPY_PRINT " " | |
| 930 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
931 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
932 TFT_dive_compass_dir_rclr: |
| 582 | 933 WIN_SMALL dm_custom_compass_rdir_column, dm_custom_compass_head_row-.2 |
| 934 STRCPY_PRINT " " | |
| 935 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
936 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
937 TFT_dive_compass_label_proc: |
| 582 | 938 movlw d'14' |
| 628 | 939 movwf up ; cardinal width in px |
| 623 | 940 bcf compass_show_cardinal |
| 582 | 941 ; 1/a. check if it's viewable ? sub_a(RP) >= sub_b(RD) ? |
| 942 ; set the carry flag if sub_b(xRD) is equal to or greater than sub_a(xRP): | |
| 623 | 943 MOVII xRD,sub_b |
| 628 | 944 call subU16 ; sub_c = sub_a - sub_b |
| 945 btfsc neg_flag ; >= 0 ? | |
| 946 return ; NO | |
| 582 | 947 ; store the RO=RP-RD for drawing |
| 623 | 948 MOVII sub_c,xC |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
949 |
| 582 | 950 ; 1/b. check if it's viewable ? sub_a(RP)+up(width) < sub_b(RD)+160 |
| 951 ; if already above, no need to process the rest of the labels | |
| 628 | 952 movff up,WREG ; take care about the width |
| 582 | 953 addwf sub_a+0,1 |
| 954 btfsc STATUS, C | |
| 955 incf sub_a+1 | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
956 |
| 623 | 957 MOVII xRDr,sub_b |
| 628 | 958 call subU16 ; sub_c = sub_a - sub_b |
| 959 btfss neg_flag ; < 0 ? | |
| 960 bra TFT_dive_compass_label_end ; NO | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
961 |
| 582 | 962 ; 2. restore RO=RP-RD from 1/a. |
| 963 movff xC+0,lo | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
964 |
| 582 | 965 ; 3. Clear the segment from DD(hi) to lo |
| 966 ; don't do a clear if we are at 0 (zero) otherwise it will blink | |
| 967 ; ?because of the width underflow? | |
| 968 movlw d'1' | |
| 969 cpfsgt lo | |
| 970 bra TFT_dive_compass_label_proc_p | |
| 971 rcall TFT_dive_compass_clr_label | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
972 TFT_dive_compass_label_proc_p: |
| 582 | 973 ; 4. print the SQ on the screen |
| 974 call TFT_standard_color | |
| 623 | 975 bsf compass_show_cardinal |
|
257
5dd0f39d05d4
minor speed and size improvements for the compass routine
heinrichsweikamp
parents:
256
diff
changeset
|
976 ;TFT_dive_compass_label_print: |
| 582 | 977 movlw dm_custom_compass_label_row |
| 978 movff WREG,win_top | |
| 979 movff lo,win_leftx2 | |
| 623 | 980 WIN_FONT FT_SMALL |
| 582 | 981 ; 6. retain the new display positions |
| 982 movff lo,hi | |
| 983 movff up,WREG | |
| 984 addwf hi,F | |
| 985 movff lo,xLO | |
| 986 movff hi,xHI | |
| 987 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
988 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
989 TFT_dive_compass_c_mk: |
| 582 | 990 ; Common task to draw center line and marker |
| 991 ; until a proper implementation make it simple: | |
| 992 rcall TFT_dive_compass_mk | |
| 628 | 993 TFT_dive_compass_c: |
| 582 | 994 movlw color_yellow |
| 995 WIN_BOX_COLOR dm_custom_compass_tick_top_top, dm_custom_compass_tick_bot_bot,.80,.81 ; center line in yellow | |
| 996 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
997 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
998 TFT_dive_compass_mk: |
| 582 | 999 ; draw the bearing on the screen if visible and if we just put something over it |
| 628 | 1000 btfss compass_bearing_set ; bearing set? |
| 1001 return ; NO - done | |
| 1002 btfss compass_bearing_vis ; YES - bearing visible? | |
| 1003 return ; NO - bearing set but not visible, done | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1004 |
| 582 | 1005 ; save lo/hi from trashing |
| 623 | 1006 MOVII mpr,xA |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1007 |
| 582 | 1008 ; did we just update the marker's position? |
| 1009 ; DD.......DD | |
| 1010 ; CM+2>=DD(old) or CM-2<=DD | |
| 1011 ; ToDo | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1012 |
| 582 | 1013 btfss compass_bearing_ahd |
| 1014 bra TFT_dive_compass_mk_rear | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1015 ;TFT_dive_compass_mk_front: |
| 582 | 1016 clrf lo |
| 1017 movff xCM,lo | |
| 628 | 1018 bsf compass_show_cardinal ; set=green marker |
| 582 | 1019 rcall TFT_dive_compass_mk_print |
| 623 | 1020 bcf compass_show_cardinal |
| 582 | 1021 bra TFT_dive_compass_mk_end |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1022 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1023 TFT_dive_compass_mk_rear: |
| 582 | 1024 clrf lo |
| 1025 movff xCM,lo | |
| 628 | 1026 bcf compass_show_cardinal ; set=red marker |
| 582 | 1027 rcall TFT_dive_compass_mk_print |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1028 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1029 TFT_dive_compass_mk_end: |
| 623 | 1030 MOVII xA,mpr |
| 582 | 1031 return |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1032 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1033 TFT_dive_compass_mk_print: |
| 582 | 1034 movlw d'1' |
| 1035 cpfsgt lo | |
| 628 | 1036 bra TFT_dive_compass_mk_print_2 ; lo <= 1, skip the first line |
| 582 | 1037 movlw d'2' |
| 1038 subwf lo,0 | |
| 1039 ; movff WREG,win_leftx2 | |
| 1040 rcall TFT_dive_compass_mk_print_3 | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1041 TFT_dive_compass_mk_print_2: |
| 582 | 1042 ; save hi/lo |
| 623 | 1043 MOVII mpr,divA |
| 582 | 1044 ; clear the middle of the bearing marker |
| 1045 movff lo,hi | |
| 1046 movlw d'2' | |
| 1047 addwf lo,1 | |
| 1048 rcall TFT_dive_compass_clr_label | |
| 1049 ; restore hi/lo | |
| 623 | 1050 MOVII divA,mpr |
| 582 | 1051 ; print a dot on the middle |
| 623 | 1052 movf lo,W |
| 582 | 1053 rcall TFT_dive_compass_mk_print_dot |
| 1054 ; finally print the right marker line | |
| 1055 movlw d'2' | |
| 1056 addwf lo,0 | |
| 1057 ; rcall TFT_dive_compass_mk_print_3 | |
| 1058 ; return | |
|
257
5dd0f39d05d4
minor speed and size improvements for the compass routine
heinrichsweikamp
parents:
256
diff
changeset
|
1059 TFT_dive_compass_mk_print_3: |
| 582 | 1060 movwf win_leftx2 |
| 1061 movlw dm_custom_compass_label_row | |
| 1062 movwf win_top | |
| 1063 movlw dm_custom_compass_label_height-.2 | |
| 1064 movwf win_height | |
| 1065 bra TFT_dive_compass_mk_print_4 | |
|
264
9dbdb060d44c
Fix compass ruler's missing bottom ticks; Clear between the bearing marker lines and draw a dot.
janos_kovacs <kovjanos@gmail.com>
parents:
259
diff
changeset
|
1066 TFT_dive_compass_mk_print_dot: |
| 582 | 1067 movwf win_leftx2 |
| 1068 movlw dm_custom_compass_label_row + .9 | |
| 1069 movwf win_top | |
| 1070 movlw d'4' | |
| 1071 movwf win_height | |
|
264
9dbdb060d44c
Fix compass ruler's missing bottom ticks; Clear between the bearing marker lines and draw a dot.
janos_kovacs <kovjanos@gmail.com>
parents:
259
diff
changeset
|
1072 TFT_dive_compass_mk_print_4: |
| 582 | 1073 movlw .158 |
| 1074 cpfslt win_leftx2 | |
| 1075 bra TFT_dive_compass_mk_print_5 | |
| 1076 movlw d'2' | |
| 623 | 1077 movwf win_bargraph |
| 582 | 1078 movwf win_width+0 |
| 1079 clrf win_width+1 | |
| 1080 movlw color_green | |
| 623 | 1081 btfss compass_show_cardinal |
| 582 | 1082 movlw color_red |
| 1083 call TFT_set_color | |
| 1084 call TFT_box | |
| 371 | 1085 TFT_dive_compass_mk_print_5: |
| 582 | 1086 return |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1087 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1088 TFT_dive_compass_clr_label: |
| 582 | 1089 movlw dm_custom_compass_label_row-.2 ; set top & height |
| 623 | 1090 movwf win_top |
| 582 | 1091 movlw dm_custom_compass_label_height+.2 |
| 623 | 1092 movwf win_height |
| 582 | 1093 rcall TFT_dive_compass_clear |
| 1094 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1095 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1096 TFT_dive_compass_clr_ruler: |
| 582 | 1097 ; top tick |
| 1098 movlw dm_custom_compass_tick_top_top ; set top & height | |
| 623 | 1099 movwf win_top |
| 582 | 1100 movlw dm_custom_compass_tick_height |
| 623 | 1101 movwf win_height |
| 582 | 1102 rcall TFT_dive_compass_clear |
| 1103 ;bottom tick | |
| 1104 movlw dm_custom_compass_tick_bot_top ; set top & height | |
| 623 | 1105 movwf win_top |
| 582 | 1106 movlw dm_custom_compass_tick_height |
| 623 | 1107 movwf win_height |
| 582 | 1108 ; rcall TFT_dive_compass_clear |
| 1109 ; return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1110 TFT_dive_compass_clear: |
| 582 | 1111 ; we receive RM in lo and DD in hi |
| 1112 ; calculate width = RM-D | |
| 623 | 1113 movf hi,W |
| 582 | 1114 subwf lo,W |
| 623 | 1115 bz TFT_dive_compass_clear3 ; do nothing if there is nothing to do |
| 582 | 1116 movwf win_width+0 ; RM-DD |
| 1117 movwf win_bargraph | |
| 1118 clrf win_width+1 | |
| 1119 movlw .1 | |
| 1120 cpfsgt win_width+0 | |
| 623 | 1121 bra TFT_dive_compass_clear3 ; do not clear a single pixel (or less) |
| 582 | 1122 movff hi,win_leftx2 |
| 1123 movlw color_black | |
| 1124 call TFT_set_color | |
| 1125 call TFT_box | |
| 370 | 1126 TFT_dive_compass_clear3: |
| 582 | 1127 return |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1128 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1129 tft_compass_cardinal: |
| 623 | 1130 btfsc hi,0 ; heading > 255° ? |
| 1131 bra tft_compass_cardinal2 ; YES - must be W, NW or N | |
| 1132 ; NO - must be W, SW, S, SE, E, NE or N | |
| 582 | 1133 movlw .23 |
| 1134 subwf lo,W | |
| 1135 btfss STATUS,C | |
| 1136 bra tft_compass_cardinal_N | |
| 1137 movlw .68 | |
| 1138 subwf lo,W | |
| 1139 btfss STATUS,C | |
| 1140 bra tft_compass_cardinal_NE | |
| 1141 movlw .113 | |
| 1142 subwf lo,W | |
| 1143 btfss STATUS,C | |
| 1144 bra tft_compass_cardinal_E | |
| 1145 movlw .158 | |
| 1146 subwf lo,W | |
| 1147 btfss STATUS,C | |
| 1148 bra tft_compass_cardinal_SE | |
| 1149 movlw .203 | |
| 1150 subwf lo,W | |
| 1151 btfss STATUS,C | |
| 1152 bra tft_compass_cardinal_S | |
| 1153 movlw .248 | |
| 1154 subwf lo,W | |
| 1155 btfss STATUS,C | |
| 1156 bra tft_compass_cardinal_SW | |
| 1157 bra tft_compass_cardinal_W | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1158 |
|
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1159 tft_compass_cardinal2: |
| 582 | 1160 movlw .37 |
| 1161 subwf lo,W | |
| 1162 btfss STATUS,C | |
| 1163 bra tft_compass_cardinal_W | |
| 1164 movlw .82 | |
| 1165 subwf lo,W | |
| 1166 btfss STATUS,C | |
| 1167 bra tft_compass_cardinal_NW | |
| 1168 ; bra tft_compass_cardinal_N | |
| 1169 | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1170 tft_compass_cardinal_N: |
| 582 | 1171 STRCAT_TEXT tN |
| 1172 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1173 tft_compass_cardinal_NE: |
| 582 | 1174 STRCAT_TEXT tNE |
| 1175 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1176 tft_compass_cardinal_E: |
| 582 | 1177 STRCAT_TEXT tE |
| 1178 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1179 tft_compass_cardinal_SE: |
| 582 | 1180 STRCAT_TEXT tSE |
| 1181 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1182 tft_compass_cardinal_S: |
| 582 | 1183 STRCAT_TEXT tS |
| 1184 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1185 tft_compass_cardinal_SW: |
| 582 | 1186 STRCAT_TEXT tSW |
| 1187 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1188 tft_compass_cardinal_W: |
| 582 | 1189 STRCAT_TEXT tW |
| 1190 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1191 tft_compass_cardinal_NW: |
| 582 | 1192 STRCAT_TEXT tNW |
| 1193 return | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1194 |
| 628 | 1195 ;----------------------------------------------------------------------------- |
| 623 | 1196 |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1197 compass_heading_common: |
| 623 | 1198 btfss compass_enabled ; compass enabled? |
| 628 | 1199 bra compass_heading_common_zero ; NO |
| 623 | 1200 |
| 628 | 1201 ; Get an averaged new heading |
| 623 | 1202 movlw compass_averaging ; number of averaging cycles |
| 1203 movwf up ; initialize loop counter | |
| 628 | 1204 compass_heading_common_1: |
| 623 | 1205 call I2C_RX_compass ; test compass |
| 1206 call I2C_RX_accelerometer ; test accelerometer | |
| 1207 call compass_filter ; filter raw compass + accelerometer readings | |
| 1208 decfsz up,F ; decrement loop counter, done? | |
| 628 | 1209 bra compass_heading_common_1 ; NO - loop |
| 623 | 1210 |
| 628 | 1211 call compass ; do compass correction (C-code) |
| 623 | 1212 banksel common ; back to bank common |
| 1213 | |
| 628 | 1214 ; Check for calibration and change |
| 1215 MOVII compass_heading_shown,sub_a ; transfer shown heading to sub_a | |
| 1216 MOVII compass_heading_new, sub_b ; transfer new heading to sub_b | |
| 623 | 1217 |
| 1218 btfsc sub_b+1,7 ; valid compass calibration? | |
| 628 | 1219 bra compass_heading_common_zero ; NO |
| 1220 | |
| 1221 movf sub_a+0,W ; get shown heading, low byte | |
| 1222 cpfseq sub_b+0 ; compare with new heading, low byte, equal? | |
| 1223 bra compass_heading_common_2 ; NO - not equal | |
| 1224 movf sub_a+1,W ; get shown heading, high byte | |
| 1225 cpfseq sub_b+1 ; compare with new heading, high byte, equal? | |
| 1226 bra compass_heading_common_2 ; NO - not equal | |
| 1227 return ; YES - done | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1228 |
| 628 | 1229 compass_heading_common_2: |
| 1230 ; turn both headings such that compass_heading_new points to 0° | |
| 1231 call subU16 ; sub_c = compass_heading_shown - compass_heading_new | |
| 1232 btfss neg_flag ; was compass_heading_new in 1st halve? | |
| 1233 bra compass_heading_common_3 ; YES - check where compass_heading_shown is now | |
| 1234 MOVLI .360, sub_a ; NO - overturned, need to turn back to match 360° | |
| 1235 MOVII sub_c,sub_b ; - move overturned compass_heading_new to sub_b | |
| 1236 call subU16 ; - sub_c = angle between overturned compass_heading_shown and 360° | |
| 1237 compass_heading_common_3: | |
| 1238 ; check if turned compass_heading_shown is in 1st or 2nd halve | |
| 1239 MOVII sub_c,sub_a ; sub_a = turned compass_heading_shown | |
| 1240 MOVLI .180, sub_b ; sub_b = begin of 2nd halve | |
| 1241 call cmpU16 ; check (turned compass_heading_shown) - 180° | |
| 1242 btfss neg_flag ; result negative? | |
| 1243 bra compass_heading_common_5 ; NO - in 2nd halve, increment towards compass_heading_new | |
| 1244 ;bra compass_heading_common_4 ; YES - in 1st halve, decrement towards compass_heading_new | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1245 |
| 628 | 1246 compass_heading_common_4: |
| 1247 ; decrement compass_heading_shown towards compass_heading_new | |
| 1248 rcall compass_heading_stepsize_2 ; calculate step size and put it into sub_b | |
| 1249 MOVII compass_heading_shown,sub_a ; transfer unturned shown heading to sub_a | |
| 1250 call subU16 ; decrement heading: sub_c = compass_heading_shown - step size | |
| 1251 btfss neg_flag ; did an under-run occur? | |
| 1252 bra compass_heading_common_6 ; NO - store result | |
| 1253 MOVLI .360, sub_a ; YES - wrap around 360° | |
| 1254 MOVII sub_c,sub_b ; - transfer decrement result to sub_b | |
| 1255 call subU16 ; - wrap decrement result around | |
| 1256 bra compass_heading_common_6 ; - store wrapped result | |
| 1257 | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1258 |
| 628 | 1259 compass_heading_common_5: |
| 1260 ; increment compass_heading_shown towards compass_heading_new | |
| 1261 rcall compass_heading_stepsize_1 ; calculate step size and put it into sub_b | |
| 1262 MOVII compass_heading_shown,sub_a ; transfer unturned shown heading to sub_a | |
| 1263 call addU16 ; increment heading: sub_c = compass_heading_shown + step size | |
| 1264 MOVII sub_c,sub_a ; transfer increment result to sub_a | |
| 1265 MOVLI .360, sub_b ; load wrap-around threshold | |
| 1266 call subU16 ; calculate if over-run occurred | |
| 1267 btfss neg_flag ; did an over-run occur? | |
| 1268 bra compass_heading_common_6 ; YES - store already wrapped-around result | |
| 1269 MOVII sub_a,sub_c ; NO - retrieve former straight increment result | |
| 1270 bra compass_heading_common_6 ; - store wrapped result | |
| 1271 | |
| 1272 compass_heading_common_zero: | |
| 1273 CLRI sub_c ; set heading to 0° | |
| 1274 ;bra compass_heading_common_6 ; store heading | |
| 1275 | |
| 1276 compass_heading_common_6: | |
| 1277 MOVII sub_c,compass_heading_shown ; store new shown heading | |
| 1278 return ; done | |
| 1279 | |
| 1280 compass_heading_stepsize_1: | |
| 1281 ; turn heading difference (180...359) into a step size | |
| 1282 MOVLI .360, sub_a ; load 360° | |
| 1283 MOVII sub_c,sub_b ; load difference | |
| 1284 call subU16 ; sub_c = 360 - difference (i.e. 1...180 now) | |
| 1285 compass_heading_stepsize_2: | |
| 1286 ; turn heading difference (1...180) into a step size | |
| 1287 bcf STATUS,C ; clear carry | |
| 1288 rrcf sub_c+0 ; heading difference /= 2 | |
| 1289 bcf STATUS,C ; clear carry | |
| 1290 rrcf sub_c+0 ; heading difference /= 2, total /= 4 now | |
| 1291 incf sub_c+0,f ; final += 1 to have one increment / decrement at least | |
| 1292 MOVII sub_c,sub_b ; transfer result to sub_b | |
| 1293 return | |
| 1294 | |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1295 |
| 623 | 1296 ENDIF ; _compass |
|
256
5b4ef0b9090d
place compass display code into compass_ops.asm
heinrichsweikamp
parents:
214
diff
changeset
|
1297 |
| 582 | 1298 END |