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annotate src/testmode.asm @ 90:3274e87fd027

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NEW: automatic compass gain makes calibration quicker
author heinrichsweikamp
date Tue, 15 Apr 2014 14:40:49 +0200
parents 7815bf21d353
children 917393caf559
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1 ;=============================================================================
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2 ;
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3 ; File tesmode.asm
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4 ;
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5 ; Test Mode for Hardware check
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6 ;
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7 ; Copyright (c) 2011, JD Gascuel, HeinrichsWeikamp, all right reserved.
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8 ;=============================================================================
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9 ; HISTORY
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10 ; 2012-10-31 : [mH] Creation
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11
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12 #include "ostc3.inc" ; Mandatory header
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13 #include "shared_definitions.h" ; Mailbox from/to p2_deco.c
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14 #include "start.inc"
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15 #include "tft.inc"
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16 #include "tft_outputs.inc"
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17 #include "isr.inc"
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18 #include "adc_lightsensor.inc"
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19 #include "strings.inc"
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20 #include "sleepmode.inc"
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21 #include "wait.inc" ; speed_*
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22 #include "mcp.inc" ; RX
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23 #include "i2c.inc"
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24 #include "surfmode.inc"
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25 #include "math.inc"
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26 #include "eeprom_rs232.inc"
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27 #include "ms5541.inc"
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28
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29 extern compass
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30 extern compass_filter
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31 extern compass_filter_init
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32 extern compass_reset_calibration
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33 extern compass_add_calibration
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34 extern compass_solve_calibration
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35
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36 testmode CODE
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37
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38 ;=============================================================================
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39 ; Boot tasks for all modes
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40 global testloop
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41 testloop: ; Page1
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42 call speed_normal
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43 bcf no_sensor_int ; Sensor ISR
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44
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45 clrf CCP1CON ; stop PWM
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46 bcf PORTC,2 ; Pull PWM output to GND
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47 call TFT_boot ; Initialize TFT (includes clear screen)
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48 call enable_ir ; Enable IR-Port
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49 WIN_TOP .0
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50 WIN_LEFT .0
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51 WIN_FONT FT_SMALL
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52 WIN_INVERT .0 ; Init new Wordprocessor
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53 call TFT_standard_color
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54 call TFT_Display_FadeIn
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55
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56 call I2C_init_compass
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57 call I2C_init_accelerometer
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58
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59 ; Init compass/accel filtering value.
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60 call I2C_RX_compass
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61 call I2C_RX_accelerometer
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62 call compass_filter_init
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63
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64 clrf timeout_counter2
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65 clrf timeout_counter3
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66 bcf premenu ; clear premenu flag
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67 bcf menubit ; clear menu flag
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68
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69 bcf switch_left
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70 bcf switch_right
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71
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72 testloop_loop:
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73 btfss onesecupdate ; do every second tasks?
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74 bra testloop_loop2 ; no, loop
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75
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76 ; One Second tasks
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77 call speed_normal
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78 call I2C_RX_compass ; Test Compass
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79 call I2C_RX_accelerometer ; Test Accelerometer
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80 call compass_filter ; Filter Raw compass + accel readings.
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81 banksel common
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82
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83 ; Make a second measure and filter, to show faster reactions.
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84 call I2C_RX_compass ; Test Compass
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85 call I2C_RX_accelerometer ; Test Accelerometer
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86 call compass_filter ; Filter Raw compass + accel readings.
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87 call compass ; Do compass corrections.
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88 banksel common
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89
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90 call TFT_update_raw_data
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91 movlw .240
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92 call timeout_testmode ; check timeout
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93
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94 bcf onesecupdate ; every second tasks done
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95
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96 testloop_loop2:
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97 ; Tasks approx. every 50ms for all modes
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98 bcf LEDg
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99 btfsc vusb_in
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100 bsf LEDg
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101
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102 ; Mode tasks
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103 extern surfloop
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104 btfsc switch_left
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105 bra testloop2 ; Page 2
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106
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107 btfsc switch_right
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108 goto compass_calibration_loop
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109
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110 btfsc sleepmode ; Sleepmode active?
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111 bra testloop2 ; Page 2
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112
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113 bra testloop_loop ; loop testmode
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114
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115 testloop2: ; Page2
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116 call speed_normal
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117 bsf no_sensor_int ; disable sensor interrupt
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118 call get_calibration_data ; Get calibration data from pressure sensor
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119 banksel common ; get_calibration_data uses isr_backup
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120 bcf no_sensor_int ; normal sensor interrupt mode
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121
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122 clrf CCP1CON ; stop PWM
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123 bcf PORTC,2 ; Pull PWM output to GND
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124 call TFT_boot ; Initialize TFT (includes clear screen)
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125 WIN_TOP .0
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126 WIN_LEFT .0
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127 WIN_FONT FT_SMALL
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128 WIN_INVERT .0 ; Init new Wordprocessor
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129 call TFT_standard_color
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130 call TFT_Display_FadeIn
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131
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132 clrf timeout_counter2
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133 clrf timeout_counter3
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134 bcf premenu ; clear premenu flag
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135 bcf menubit ; clear menu flag
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136
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137 bcf switch_left
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138 bcf switch_right
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139
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140 testloop2_loop:
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141 btfss onesecupdate ; do every second tasks?
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142 bra testloop2_loop2 ; no, loop
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143
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144 ; One Second tasks
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145 call TFT_update_raw_data2
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146 movlw .240
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147 call timeout_testmode ; check timeout
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148
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149 bcf onesecupdate ; every second tasks done
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150
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151 testloop2_loop2:
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152 ; Tasks approx. every 50ms for all modes
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153 bcf LEDg
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154 btfsc vusb_in
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155 bsf LEDg
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156
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157 ; Mode tasks
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158 btfsc switch_left
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159 goto surfloop ; Exit
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160
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161 btfsc sleepmode ; Sleepmode active?
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162 goto sleeploop ; Yes, switch into sleepmode!
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163
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164 bra testloop2_loop ; loop testmode
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165
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166
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167 global compass_calibration_loop
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168 compass_calibration_loop: ; Compass calibration
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169 bsf no_sensor_int ; No Sensor ISR
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170 call TFT_ClearScreen
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171
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172 ; Mask
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173 WIN_COLOR color_greenish
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174 WIN_SMALL .16,.0
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175 STRCPY_TEXT_PRINT tCompassMenu
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176 btfss switch_right2 ; wait until button is released
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177 bra $-4
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178
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179 call TFT_standard_color
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180 WIN_SMALL .0,.215
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181 STRCPY_TEXT_PRINT tExit
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182 WAITMS d'255'
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183 WAITMS d'255'
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184 movlw .8 ; Gain init
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185 movff WREG,opt_compass_gain
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186 compass_calibration_gainset: ; Reduce the gain, set bank here!
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187 banksel opt_compass_gain
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188 decf opt_compass_gain,F ; Reduce by one
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189 btfsc STATUS,N ; <0?
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190 clrf opt_compass_gain ; Yes, keep at zero
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191
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192 banksel common
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193 call I2C_init_accelerometer
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194 call I2C_init_compass_fast
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195 call TFT_compass_show_gain ; Show the current compass gain
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196
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197 WAITMS d'100'
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198
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199 clrf timeout_counter2
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200 clrf timeout_counter3
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201
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202 call speed_fastest
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203 call I2C_RX_compass ; read compass
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204 call I2C_RX_accelerometer ; read Accelerometer
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205
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206 ; Test all axes for +4096 (Hi byte=16)
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207 banksel compass_DX+1
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208 movlw .16
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209 cpfseq compass_DX+1
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210 bra $+4
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211 bra compass_calibration_gainset
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212 cpfseq compass_DY+1
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213 bra $+4
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214 bra compass_calibration_gainset
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215 cpfseq compass_DZ+1
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216 bra $+4
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217 bra compass_calibration_gainset
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218
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219 ; Test all axes for -4096 (Hi byte=240)
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220 movlw .240
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221 cpfseq compass_DX+1
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222 bra $+4
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223 bra compass_calibration_gainset
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224 cpfseq compass_DY+1
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225 bra $+4
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226 bra compass_calibration_gainset
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227 cpfseq compass_DZ+1
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228 bra $+4
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229 bra compass_calibration_gainset
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230 banksel common
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231
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232 call compass_filter_init ; set DX_f values
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233 call compass_reset_calibration ; Reset CX_f values
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234 banksel common
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235
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236 compass_calibration_loop2:
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237 call I2C_RX_compass ; read compass
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238 call I2C_RX_accelerometer ; Test Accelerometer
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239 call compass_filter ; Filter compass raw data
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240 banksel common
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241
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242 ; Twice
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243 call I2C_RX_compass ; read compass
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244 call I2C_RX_accelerometer ; Test Accelerometer
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245 call compass_filter ; Filter compass raw data
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246 banksel common
90
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247
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248 ; Test all axes for +4096 (Hi byte=16)
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249 banksel compass_DX+1
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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250 movlw .16
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251 cpfseq compass_DX+1
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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252 bra $+4
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253 bra compass_calibration_gainset
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254 cpfseq compass_DY+1
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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255 bra $+4
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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256 bra compass_calibration_gainset
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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257 cpfseq compass_DZ+1
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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258 bra $+4
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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259 bra compass_calibration_gainset
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260
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261 ; Test all axes for -4096 (Hi byte=240)
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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262 movlw .240
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263 cpfseq compass_DX+1
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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264 bra $+4
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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265 bra compass_calibration_gainset
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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266 cpfseq compass_DY+1
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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267 bra $+4
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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268 bra compass_calibration_gainset
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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269 cpfseq compass_DZ+1
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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270 bra $+4
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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271 bra compass_calibration_gainset
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272 banksel common
0
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273 ;
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274 ; ; Three
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275 ; call I2C_RX_compass ; read compass
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276 ; call I2C_RX_accelerometer ; Test Accelerometer
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277 ; call compass_filter ; Filter compass raw data
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278 ; banksel common
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279 ;
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280 ; ; Four times to get cleaner values
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281 ; call I2C_RX_compass ; read compass
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282 ; call I2C_RX_accelerometer ; Test Accelerometer
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283 ; call compass_filter ; Filter compass raw data
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284
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285 ; And register only one value out of four:
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286 call compass_add_calibration ; check and store new max/min values
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287 banksel common
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288
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289 call TFT_compass_fast ; show values
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290
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291 btfsc sleepmode ; Sleepmode active?
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292 bra compass_calibration_exit ; Yes, exit
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293
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294 btfsc switch_left ; Button pressed?
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295 bra compass_calibration_exit ; Yes, exit
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296
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297 btfss onesecupdate ; do every second tasks?
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298 bra compass_calibration_loop2 ; no, loop here
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299
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300 movlw .240
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301 call timeout_testmode ; check timeout
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302 bcf onesecupdate ; clear flag
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303
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304 bra compass_calibration_loop2 ; loop here
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305
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306 compass_calibration_exit:
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307 call compass_solve_calibration
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308 banksel common
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309 extern option_save_all
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310 call option_save_all ; save all settings into EEPROM
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311 bcf sleepmode ; Clear the flag before exiting to surfacemode
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312 movlw .6
90
3274e87fd027 NEW: automatic compass gain makes calibration quicker
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313 movwf customview_surfmode ; Set to compass view...
0
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314 goto surfloop ; ...and exit
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315
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316 END