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annotate src/i2c.asm @ 22:e01c39be267c

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change gf_low default to 30%
author heinrichsweikamp
date Mon, 08 Jul 2013 11:37:37 +0200
parents 9b7dd3103545
children f3062a611eef
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1 ;=============================================================================
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2 ;
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3 ; File i2c.asm
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4 ;
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5 ; I2C Interface to HMC5883L and MMA8452Q
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6 ;
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7 ; HMC5883L's read address (8-Bit): 0x3D
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8 ; HMC5883L's write address (8-Bit): 0x3C
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9 ;
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10 ; MMA8452Q's read address (8-Bit): 0x39
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11 ; MMA8452Q's write address (8-Bit): 0x38
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12 ;
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13 ; Copyright (c) 2012, JD Gascuel, HeinrichsWeikamp, all right reserved.
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14 ;=============================================================================
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15 ; HISTORY
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16 ; 2012-08-22 : [mH] Creation
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17
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18
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19 #include "ostc3.inc" ; Mandatory header
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20 #include "wait.inc"
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21
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22 i2c CODE
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23
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24 WaitMSSP:
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25 decfsz i2c_temp,F ; check for timeout during I2C action
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26 bra WaitMSSP2
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27 bra I2CFail ; timeout occured
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28 WaitMSSP2:
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29 btfss PIR1,SSPIF
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30 bra WaitMSSP
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31 clrf i2c_temp
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32 bcf PIR1,SSPIF
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33 nop
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34 return
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35
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36 I2C_WaitforACK:
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37 btfss SSPCON2,ACKSTAT ; checks for ACK bit from slave
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38 return
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39 I2CFail:
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40 rcall I2CReset ; I2C Reset
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41 bcf PIR1,SSPIF
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42 clrf i2c_temp
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43 return
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44
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45 I2CReset: ; Something went wrong (Slave holds SDA low?)
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46 clrf SSP1CON1 ; wake-up slave and reset entire module
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47 clrf SSP1CON2
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48 clrf SSP1STAT
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49 bcf TRISC,3 ; SCL OUTPUT
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50 bsf TRISC,4 ; SDA Input
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51 bcf PORTC,3
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52 movlw d'9'
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53 movwf i2c_temp ; clock-out 9 clock cycles manually
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54 I2CReset_1:
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55 bsf PORTC,3 ; SCL=1
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56 nop
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57 nop
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58 nop
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59 nop
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60 btfsc PORTC,4 ; SDA=1?
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61 bra I2CReset_2 ; =1, SDA has been released from slave
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62 bcf PORTC,3 ; SCL=0
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63 nop
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64 nop
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65 bcf PORTC,3
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66 nop
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67 nop
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68 decfsz i2c_temp,F
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69 bra I2CReset_1 ; check for nine clock cycles
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70 I2CReset_2:
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71 bsf TRISC,3 ; SCL Input
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72 clrf SSP1CON1 ; setup I²C Mode
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73 WAITMS d'10' ; Reset-Timeout for I2C devices
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74 movlw b'00000000' ; with slew rate control
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75 movwf SSPSTAT
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76 movlw b'00101000'
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77 movwf SSP1CON1
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78 movlw b'00000000'
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79 movwf SSP1CON2
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80 movlw 0x27
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81 movwf SSP1ADD
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82 return
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83
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84 I2C_TX:
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85 movwf SSP1BUF
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86 rcall WaitMSSP
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87 bra I2C_WaitforACK ; Returns...
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88
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89 I2C_TwoBytesRX_div16: ; Get two bytes and devide lo:hi/16 (signed)
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90 rcall I2C_OneByteRX ; Get one byte
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91 movff SSP1BUF,hi ; Data Byte
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92 rcall I2C_OneByteRX ; Get one byte
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93 movff SSP1BUF,lo ; Data Byte
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94 I2C_TwoBytesRX_div16_2: ; devide lo:hi/16 (signed) only
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95 bcf STATUS,C
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96 btfsc hi,7 ; Copy sign bit to carry
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97 bsf STATUS,C
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98 rrcf hi ; /2
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99 rrcf lo
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100 bcf STATUS,C
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101 btfsc hi,7 ; Copy sign bit to carry
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102 bsf STATUS,C
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103 rrcf hi ; /4
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104 rrcf lo
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105 bcf STATUS,C
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106 btfsc hi,7 ; Copy sign bit to carry
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107 bsf STATUS,C
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108 rrcf hi ; /8
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109 rrcf lo
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110 bcf STATUS,C
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111 btfsc hi,7 ; Copy sign bit to carry
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112 bsf STATUS,C
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113 rrcf hi ; /16
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114 rrcf lo
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115 return
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116
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117 global I2C_RX_accelerometer
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118 I2C_RX_accelerometer:
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119 bsf SSP1CON2,SEN ; Start condition
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120 rcall WaitMSSP
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121 movlw 0x38 ; address
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122 rcall I2C_TX
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123 movlw 0x01
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124 rcall I2C_TX
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125 bsf SSP1CON2,RSEN ; Repeated start condition (!)
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126 rcall WaitMSSP
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127 movlw 0x39 ; address
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128 rcall I2C_TX
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129
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130 ; Chip orientation on the PCB requires
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131 ; Original = Corrected
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132 ; x = -x
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133 ; y = -y
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134 ; z = -z
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135
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136
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137 rcall I2C_TwoBytesRX_div16 ; Get two bytes and devide /16 (signed)
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138 comf hi ; 16bit sign change.
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139 negf lo
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140 btfsc STATUS,C ; Carry to propagate ?
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141 incf hi,F ; YES: do it.
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142 movff lo,accel_DX+0
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143 movff hi,accel_DX+1 ; Copy result
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144
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145 rcall I2C_TwoBytesRX_div16 ; Get two bytes and devide /16 (signed)
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146 comf hi ; 16bit sign change.
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147 negf lo
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148 btfsc STATUS,C ; Carry to propagate ?
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149 incf hi,F ; YES: do it.
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150 movff lo,accel_DY+0
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151 movff hi,accel_DY+1 ; Copy result
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152
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153 rcall I2C_OneByteRX ; Get one byte
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154 movff SSP1BUF,hi ; Data Byte
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155 bsf SSP1CON2, RCEN ; Enable recieve mode
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156 rcall WaitMSSP
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157 ; According to datasheet there should be no Master Acknowlegde for the last Byte (accel_DZ+0)...
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158 movff SSP1BUF,lo ; Data Byte
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159
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160 rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only
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161 comf hi ; 16bit sign change.
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162 negf lo
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163 btfsc STATUS,C ; Carry to propagate ?
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164 incf hi,F ; YES: do it.
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165 movff lo,accel_DZ+0
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166 movff hi,accel_DZ+1 ; Copy result
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167
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168 bsf SSP1CON2,PEN ; Stop condition
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169 rcall WaitMSSP
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170 return
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171
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172 I2C_OneByteRX:
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173 bsf SSP1CON2, RCEN ; Enable recieve mode
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174 rcall WaitMSSP
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175 bsf SSP1CON2,ACKEN ; Master acknowlegde
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176 rcall WaitMSSP
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177 return
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178
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179 global I2C_RX_compass
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180 I2C_RX_compass:
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181 bsf SSP1CON2,SEN ; Start condition
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182 rcall WaitMSSP
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183 movlw 0x3C ; address
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184 rcall I2C_TX
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185 movlw 0x03
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186 rcall I2C_TX
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187 bsf SSP1CON2,PEN ; Stop condition
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188 rcall WaitMSSP
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189
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190 bcf PIR1,SSPIF
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191 bsf SSP1CON2,SEN ; Start condition
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192 rcall WaitMSSP
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193 movlw 0x3D ; address
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194 rcall I2C_TX
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195
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196 ; Compass IC sends data in following order:
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197 ; x MSB
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198 ; x LSB
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199 ; z MSB
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200 ; z LSB
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201 ; y MSB
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202 ; y LSB
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203
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204 ; Chip orientation on the PCB requires
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205 ; Original = Corrected
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206 ; x = -y
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207 ; z = z
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208 ; y = x
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209
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210 rcall I2C_OneByteRX ; Get one byte
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211 movff SSP1BUF,compass_DY+1; Data Byte
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212 rcall I2C_OneByteRX ; Get one byte
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213 movff SSP1BUF,compass_DY+0; Data Byte
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214 banksel compass_DY
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215 comf compass_DY+1 ; 16bit sign change.
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216 negf compass_DY+0
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217 btfsc STATUS,C ; Carry to propagate ?
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218 incf compass_DY+1,F ; YES: do it.
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219 banksel common
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220 rcall I2C_OneByteRX ; Get one byte
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221 movff SSP1BUF,compass_DZ+1; Data Byte
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222 rcall I2C_OneByteRX ; Get one byte
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223 movff SSP1BUF,compass_DZ+0; Data Byte
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224 rcall I2C_OneByteRX ; Get one byte
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225 movff SSP1BUF,compass_DX+1; Data Byte
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226 bsf SSP1CON2, RCEN ; Enable recieve mode
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227 rcall WaitMSSP
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228 movff SSP1BUF,compass_DX+0; Data Byte
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229 bsf SSP1CON2,PEN ; Stop condition
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230 rcall WaitMSSP
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231 return
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232
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233 global I2C_init_compass
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234 I2C_init_compass:
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235 bsf SSP1CON2,SEN ; Start condition
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236 rcall WaitMSSP
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237 movlw 0x3C ; address
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238 rcall I2C_TX
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239 movlw 0x00
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240 rcall I2C_TX
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241 ; movlw b'01101001' ; ConfigA: 3Hz, 8 Samples averaged, Test Mode (Positive Bias)
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242 movlw b'01101000' ; ConfigA: 3Hz, 8 Samples averaged
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243 rcall I2C_TX
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244 bra I2C_init_compass_common
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245
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246 global I2C_init_compass_fast
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247 I2C_init_compass_fast:
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248 bsf SSP1CON2,SEN ; Start condition
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249 rcall WaitMSSP
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250 movlw 0x3C ; address
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251 rcall I2C_TX
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252 movlw 0x00
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253 rcall I2C_TX
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254 movlw b'00111000' ; ConfigA: 75Hz, 2 Samples averaged
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255 ; movlw b'00111001' ; ConfigA: 75Hz, 2 Samples averaged, Test Mode (Positive Bias)
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256 rcall I2C_TX
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257 I2C_init_compass_common:
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258 movff opt_compass_gain,i2c_temp ; 0-7 (230LSB/Gauss to 1370LSB/Gaus)
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259 swapf i2c_temp,F
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260 comf i2c_temp,F
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261 bcf STATUS,C
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262 rlcf i2c_temp
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263 movf i2c_temp,W
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264 clrf i2c_temp
0
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265 rcall I2C_TX
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266 movlw b'00000000' ; Continous Mode
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267 rcall I2C_TX
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268 bsf SSP1CON2,PEN ; Stop condition
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269 rcall WaitMSSP
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270 bsf compass_enabled
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271 return
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272
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273 global I2C_sleep_compass
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274 I2C_sleep_compass:
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275 bsf SSP1CON2,SEN ; Start condition
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276 rcall WaitMSSP
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277 movlw 0x3C ; address
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278 rcall I2C_TX
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279 movlw 0x00
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280 rcall I2C_TX
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281 movlw b'01101000' ; ConfigA
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282 rcall I2C_TX
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283 movlw b'00100000' ; ConfigB
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284 rcall I2C_TX
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285 movlw b'00000010' ; Idle Mode
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286 rcall I2C_TX
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287 bsf SSP1CON2,PEN ; Stop condition
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288 rcall WaitMSSP
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289 bcf compass_enabled
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290 return
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291
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292
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293 global I2C_init_accelerometer
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294 I2C_init_accelerometer:
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295 rcall I2C_sleep_accelerometer ; Regs can only be changed in St.By mode
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296
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297 bsf SSP1CON2,SEN ; Start condition
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298 rcall WaitMSSP
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299 movlw 0x38 ; address
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300 rcall I2C_TX
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301 movlw 0x0E ; XYZ_DATA_CFG
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302 rcall I2C_TX
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303 movlw b'00000000' ; High pass Filter=0 , +/- 2g range
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304 rcall I2C_TX
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305 bsf SSP1CON2,PEN ; Stop condition
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306 rcall WaitMSSP
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307
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308
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309 bsf SSP1CON2,SEN ; Start condition
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310 rcall WaitMSSP
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311 movlw 0x38 ; address
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312 rcall I2C_TX
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313 movlw 0x2A ; CTRL_REG1
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314 rcall I2C_TX
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315 ; movlw b'00110000' ; CTRL_REG1: 160ms data rate, St.By Mode
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316 movlw b'00110100' ; CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode
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317 rcall I2C_TX
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318 movlw b'00000010' ; CTRL_REG2: High Res in Active mode
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319 rcall I2C_TX
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320 bsf SSP1CON2,PEN ; Stop condition
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321 rcall WaitMSSP
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322
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323 bsf SSP1CON2,SEN ; Start condition
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324 rcall WaitMSSP
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325 movlw 0x38 ; address
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326 rcall I2C_TX
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327 movlw 0x2A ; CTRL_REG1
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328 rcall I2C_TX
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329 ; movlw b'00110001' ; CTRL_REG1: 160ms data rate, Active Mode
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330 movlw b'00110101' ; CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode, Active Mode
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331 rcall I2C_TX
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332 bsf SSP1CON2,PEN ; Stop condition
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333 rcall WaitMSSP
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334
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335 return
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336
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337 global I2C_sleep_accelerometer
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338 I2C_sleep_accelerometer:
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339 bsf SSP1CON2,SEN ; Start condition
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340 rcall WaitMSSP
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341 movlw 0x38 ; address
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342 rcall I2C_TX
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343 movlw 0x2A ; CTRL_REG1
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344 rcall I2C_TX
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345 movlw b'00000000' ; St. By Mode
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346 rcall I2C_TX
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347 bsf SSP1CON2,PEN ; Stop condition
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348 rcall WaitMSSP
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349 return
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350
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351
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352 END