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comparison src/testmode.asm @ 0:11d4fc797f74

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init
author heinrichsweikamp
date Wed, 24 Apr 2013 19:22:45 +0200
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children ec4d8503ec45
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-1:000000000000 0:11d4fc797f74
1 ;=============================================================================
2 ;
3 ; File tesmode.asm
4 ;
5 ; Test Mode for Hardware check
6 ;
7 ; Copyright (c) 2011, JD Gascuel, HeinrichsWeikamp, all right reserved.
8 ;=============================================================================
9 ; HISTORY
10 ; 2012-10-31 : [mH] Creation
11
12 #include "ostc3.inc" ; Mandatory header
13 #include "shared_definitions.h" ; Mailbox from/to p2_deco.c
14 #include "start.inc"
15 #include "tft.inc"
16 #include "tft_outputs.inc"
17 #include "isr.inc"
18 #include "adc_lightsensor.inc"
19 #include "strings.inc"
20 #include "sleepmode.inc"
21 #include "wait.inc" ; speed_*
22 #include "mcp.inc" ; RX
23 #include "i2c.inc"
24 #include "surfmode.inc"
25 #include "math.inc"
26 #include "eeprom_rs232.inc"
27
28 extern compass
29 extern compass_filter
30 extern compass_filter_init
31 extern compass_reset_calibration
32 extern compass_add_calibration
33 extern compass_solve_calibration
34
35 testmode CODE
36
37 ;=============================================================================
38 ; Boot tasks for all modes
39 global testloop
40 testloop:
41 call speed_normal
42 bcf no_sensor_int ; Sensor ISR
43
44 clrf CCP1CON ; stop PWM
45 bcf PORTC,2 ; Pull PWM output to GND
46 call TFT_boot ; Initialize TFT (includes clear screen)
47 call enable_ir ; Enable IR-Port
48 WIN_TOP .0
49 WIN_LEFT .0
50 WIN_FONT FT_SMALL
51 WIN_INVERT .0 ; Init new Wordprocessor
52 call TFT_standard_color
53 call mcp_reset_rssi ; Setup RX
54 call TFT_Display_FadeIn
55
56 call I2C_init_compass
57 call I2C_init_accelerometer
58
59 ; Init compass/accel filtering value.
60 call I2C_RX_compass
61 call I2C_RX_accelerometer
62 call compass_filter_init
63
64 clrf timeout_counter2
65 clrf timeout_counter3
66 bcf premenu ; clear premenu flag
67 bcf menubit ; clear menu flag
68
69 bcf switch_left
70 bcf switch_right
71
72 testloop_loop:
73 btfss onesecupdate ; do every second tasks?
74 bra testloop_loop2 ; no, loop
75
76 ; One Second tasks
77 call speed_normal
78 call I2C_RX_compass ; Test Compass
79 call I2C_RX_accelerometer ; Test Accelerometer
80 call compass_filter ; Filter Raw compass + accel readings.
81 banksel common
82
83 ; Make a second measure and filter, to show faster reactions.
84 call I2C_RX_compass ; Test Compass
85 call I2C_RX_accelerometer ; Test Accelerometer
86 call compass_filter ; Filter Raw compass + accel readings.
87 call compass ; Do compass corrections.
88 banksel common
89
90 call TFT_update_raw_data
91 movlw .240
92 call timeout_testmode ; check timeout
93
94 bcf onesecupdate ; every second tasks done
95
96 testloop_loop2:
97 ; Tasks approx. every 50ms for all modes
98 bcf LEDg
99 btfsc vusb_in
100 bsf LEDg
101
102 ; Mode tasks
103 extern surfloop
104 btfsc switch_left
105 goto surfloop ; Exit
106
107 btfsc switch_right
108 goto compass_calibration_loop
109
110 btfsc sleepmode ; Sleepmode active?
111 goto sleeploop ; Yes, switch into sleepmode!
112
113 bra testloop_loop ; loop testmode
114
115
116 global compass_calibration_loop
117 compass_calibration_loop: ; Compass calibration
118 bsf no_sensor_int ; No Sensor ISR
119 call I2C_init_accelerometer
120 call I2C_init_compass_fast
121 call TFT_ClearScreen
122
123 ; Mask
124 WIN_COLOR color_greenish
125 WIN_SMALL .16,.0
126 STRCPY_TEXT_PRINT tCompassMenu
127 call TFT_standard_color
128 WIN_SMALL .0,.215
129 STRCPY_TEXT_PRINT tExit
130
131 clrf timeout_counter2
132 clrf timeout_counter3
133
134 call speed_fastest
135 call I2C_RX_compass ; read compass
136 call I2C_RX_accelerometer ; read Accelerometer
137 call compass_filter_init ; set DX_f values
138 call compass_reset_calibration ; Reset CX_f values
139 banksel common
140
141 compass_calibration_loop2:
142 call I2C_RX_compass ; read compass
143 call I2C_RX_accelerometer ; Test Accelerometer
144 call compass_filter ; Filter compass raw data
145 banksel common
146
147 ; Twice
148 call I2C_RX_compass ; read compass
149 call I2C_RX_accelerometer ; Test Accelerometer
150 call compass_filter ; Filter compass raw data
151 banksel common
152 ;
153 ; ; Three
154 ; call I2C_RX_compass ; read compass
155 ; call I2C_RX_accelerometer ; Test Accelerometer
156 ; call compass_filter ; Filter compass raw data
157 ; banksel common
158 ;
159 ; ; Four times to get cleaner values
160 ; call I2C_RX_compass ; read compass
161 ; call I2C_RX_accelerometer ; Test Accelerometer
162 ; call compass_filter ; Filter compass raw data
163
164 ; And register only one value out of four:
165 call compass_add_calibration ; check and store new max/min values
166 banksel common
167
168 call TFT_compass_fast ; show values
169 ; btg LEDg ; Show read-out interval
170
171 btfsc sleepmode ; Sleepmode active?
172 bra compass_calibration_exit ; Yes, exit
173
174 btfsc switch_left ; Button pressed?
175 bra compass_calibration_exit ; Yes, exit
176
177 btfss onesecupdate ; do every second tasks?
178 bra compass_calibration_loop2 ; no, loop here
179
180 movlw .240
181 call timeout_testmode ; check timeout
182 bcf onesecupdate ; clear flag
183
184 bra compass_calibration_loop2 ; loop here
185
186 compass_calibration_exit:
187 call compass_solve_calibration
188 banksel common
189 extern option_save_all
190 call option_save_all ; save all settings into EEPROM
191 bcf sleepmode ; Clear the flag before exiting to surfacemode
192 movlw .6
193 movwf menupos3 ; Set to compass view...
194 goto surfloop ; ...and exit
195
196 END