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add code for new compass chip
author heinrichsweikamp
date Tue, 14 Jun 2016 13:02:17 +0200
parents 653a3ab08062
children 4b93354b7738
comparison
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426:8f8151bb53bb 427:ceb1b7329dce
7 ; HMC5883L's read address (8-Bit): 0x3D 7 ; HMC5883L's read address (8-Bit): 0x3D
8 ; HMC5883L's write address (8-Bit): 0x3C 8 ; HMC5883L's write address (8-Bit): 0x3C
9 ; 9 ;
10 ; MMA8452Q's read address (8-Bit): 0x39 10 ; MMA8452Q's read address (8-Bit): 0x39
11 ; MMA8452Q's write address (8-Bit): 0x38 11 ; MMA8452Q's write address (8-Bit): 0x38
12 ;
13 ; LSM303D's read address (8-Bit): 0x3D
14 ; LSM303D's write address (8-Bit): 0x3C
12 ; 15 ;
13 ; Copyright (c) 2012, JD Gascuel, HeinrichsWeikamp, all right reserved. 16 ; Copyright (c) 2012, JD Gascuel, HeinrichsWeikamp, all right reserved.
14 ;============================================================================= 17 ;=============================================================================
15 ; HISTORY 18 ; HISTORY
16 ; 2012-08-22 : [mH] Creation 19 ; 2012-08-22 : [mH] Creation
98 I2C_TwoBytesRX_div16_2: ; devide lo:hi/16 (signed) only 101 I2C_TwoBytesRX_div16_2: ; devide lo:hi/16 (signed) only
99 bcf STATUS,C 102 bcf STATUS,C
100 btfsc hi,7 ; Copy sign bit to carry 103 btfsc hi,7 ; Copy sign bit to carry
101 bsf STATUS,C 104 bsf STATUS,C
102 rrcf hi ; /2 105 rrcf hi ; /2
103 rrcf lo 106 rrcf lo
107 I2C_TwoBytesRX_div8_2: ; devide lo:hi/8 (signed) only
104 bcf STATUS,C 108 bcf STATUS,C
105 btfsc hi,7 ; Copy sign bit to carry 109 btfsc hi,7 ; Copy sign bit to carry
106 bsf STATUS,C 110 bsf STATUS,C
107 rrcf hi ; /4 111 rrcf hi ; /4
108 rrcf lo 112 rrcf lo
109 bcf STATUS,C 113 bcf STATUS,C
110 btfsc hi,7 ; Copy sign bit to carry 114 btfsc hi,7 ; Copy sign bit to carry
111 bsf STATUS,C 115 bsf STATUS,C
112 rrcf hi ; /8 116 rrcf hi ; /8
113 rrcf lo 117 rrcf lo
118 rrcf lo 122 rrcf lo
119 return 123 return
120 124
121 global I2C_RX_accelerometer 125 global I2C_RX_accelerometer
122 I2C_RX_accelerometer: 126 I2C_RX_accelerometer:
123 bsf SSP1CON2,SEN ; Start condition 127 btfsc compass_type ; compass1?
124 rcall WaitMSSP 128 bra I2C_RX_accelerometer_compass1 ; yes
125 movlw 0x38 ; address 129 ;I2C_RX_accelerometer_compass0:
126 rcall I2C_TX 130 bsf SSP1CON2,SEN ; Start condition
127 movlw 0x00 131 rcall WaitMSSP
128 rcall I2C_TX 132 movlw 0x38 ; address
129 bsf SSP1CON2,RSEN ; Repeated start condition (!) 133 rcall I2C_TX
130 rcall WaitMSSP 134 movlw 0x00
131 movlw 0x39 ; address 135 rcall I2C_TX
136 bsf SSP1CON2,RSEN ; Repeated start condition (!)
137 rcall WaitMSSP
138 movlw 0x39 ; address
132 rcall I2C_TX 139 rcall I2C_TX
133 140
134 rcall I2C_OneByteRX ; Get Status Byte 141 rcall I2C_OneByteRX ; Get Status Byte
135 movf SSP1BUF,W 142 movf SSP1BUF,W
136 143
187 194
188 bsf SSP1CON2,PEN ; Stop condition 195 bsf SSP1CON2,PEN ; Stop condition
189 rcall WaitMSSP 196 rcall WaitMSSP
190 return 197 return
191 198
199 I2C_RX_accelerometer_compass1:
200 bsf SSP1CON2,SEN ; Start condition
201 rcall WaitMSSP
202 movlw 0x3C ; address
203 rcall I2C_TX
204 movlw b'10101000' ; 0x28 with auto-increment (MSB=1)
205 rcall I2C_TX
206 bsf SSP1CON2,RSEN ; Repeated start condition (!)
207 rcall WaitMSSP
208 movlw 0x3D ; address
209 rcall I2C_TX
210
211 ; Non-flipped screen:
212 ; Chip orientation on the PCB requires
213 ; Original = Corrected
214 ; x = -x
215 ; y = -y
216 ; z = -z
217
218 ; Flipped screen:
219 ; Chip orientation on the PCB requires
220 ; Original = Corrected
221 ; x = x
222 ; y = y
223 ; z = -z
224
225 ; Dump the accelerator data
226 rcall I2C_OneByteRX
227 movff SSP1BUF,lo ;accel_DX+0
228 rcall I2C_OneByteRX
229 movff SSP1BUF,hi ;accel_DX+1
230 rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only
231 btfsc flip_screen ; 180° rotation ?
232 bra I2C_RX_accelerometer2_c1 ; Yes
233 comf hi ; 16bit sign change.
234 negf lo
235 btfsc STATUS,C ; Carry to propagate ?
236 incf hi,F ; YES: do it.
237 I2C_RX_accelerometer2_c1:
238 movff lo,accel_DX+0
239 movff hi,accel_DX+1 ; Copy result
240
241 rcall I2C_OneByteRX
242 movff SSP1BUF,lo ;accel_DY+0
243 rcall I2C_OneByteRX
244 movff SSP1BUF,hi ;accel_DY+1
245
246 rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only
247 btfsc flip_screen ; 180° rotation ?
248 bra I2C_RX_accelerometer3_c1 ; Yes
249 comf hi ; 16bit sign change.
250 negf lo
251 btfsc STATUS,C ; Carry to propagate ?
252 incf hi,F ; YES: do it.
253 I2C_RX_accelerometer3_c1:
254 movff lo,accel_DY+0
255 movff hi,accel_DY+1 ; Copy result
256
257 rcall I2C_OneByteRX
258 movff SSP1BUF,lo ;accel_DZ+0
259 bsf SSP1CON2, RCEN ; Enable recieve mode
260 rcall WaitMSSP
261 ; According to datasheet there should be no Master Acknowlegde for the last Byte (accel_DZ+1)...
262 movff SSP1BUF,hi ;accel_DZ+1
263 bsf SSP1CON2,PEN ; Stop condition
264 rcall WaitMSSP
265 rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only
266 comf hi ; 16bit sign change for Z
267 negf lo
268 btfsc STATUS,C ; Carry to propagate ?
269 incf hi,F ; YES: do it.
270 movff lo,accel_DZ+0
271 movff hi,accel_DZ+1 ; Copy result
272 return
273
192 I2C_OneByteRX: 274 I2C_OneByteRX:
193 bsf SSP1CON2, RCEN ; Enable recieve mode 275 bsf SSP1CON2, RCEN ; Enable recieve mode
194 rcall WaitMSSP 276 rcall WaitMSSP
195 bsf SSP1CON2,ACKEN ; Master acknowlegde 277 bsf SSP1CON2,ACKEN ; Master acknowlegde
196 rcall WaitMSSP 278 bra WaitMSSP ; And return!
197 return
198 279
199 global I2C_RX_compass 280 global I2C_RX_compass
200 I2C_RX_compass: 281 I2C_RX_compass:
201 bsf SSP1CON2,SEN ; Start condition 282 btfsc compass_type ; compass1?
202 rcall WaitMSSP 283 bra I2C_RX_compass1 ; yes
203 movlw 0x3C ; address 284 ;I2C_RX_compass0:
204 rcall I2C_TX 285 bsf SSP1CON2,SEN ; Start condition
205 movlw 0x03 286 rcall WaitMSSP
206 rcall I2C_TX 287 movlw 0x3C ; address
207 bsf SSP1CON2,PEN ; Stop condition 288 rcall I2C_TX
208 rcall WaitMSSP 289 movlw 0x03
209 290 rcall I2C_TX
210 bcf PIR1,SSPIF 291 bsf SSP1CON2,PEN ; Stop condition
211 bsf SSP1CON2,SEN ; Start condition 292 rcall WaitMSSP
212 rcall WaitMSSP 293
213 movlw 0x3D ; address 294 bcf PIR1,SSPIF
295 bsf SSP1CON2,SEN ; Start condition
296 rcall WaitMSSP
297 movlw 0x3D ; address
214 rcall I2C_TX 298 rcall I2C_TX
215 299
216 ; Compass IC sends data in following order: 300 ; Compass IC sends data in following order:
217 ; x MSB 301 ; x MSB
218 ; x LSB 302 ; x LSB
247 btfsc STATUS,C ; Carry to propagate ? 331 btfsc STATUS,C ; Carry to propagate ?
248 incf compass_DY+1,F ; YES: do it. 332 incf compass_DY+1,F ; YES: do it.
249 I2C_RX_compass2: 333 I2C_RX_compass2:
250 banksel common 334 banksel common
251 rcall I2C_OneByteRX ; Get one byte 335 rcall I2C_OneByteRX ; Get one byte
252 movff SSP1BUF,compass_DZ+1; Data Byte 336 movff SSP1BUF,compass_DZ+1; Data Byte
253 rcall I2C_OneByteRX ; Get one byte 337 rcall I2C_OneByteRX ; Get one byte
254 movff SSP1BUF,compass_DZ+0; Data Byte 338 movff SSP1BUF,compass_DZ+0; Data Byte
255 rcall I2C_OneByteRX ; Get one byte 339 rcall I2C_OneByteRX ; Get one byte
256 movff SSP1BUF,compass_DX+1; Data Byte 340 movff SSP1BUF,compass_DX+1; Data Byte
257 bsf SSP1CON2, RCEN ; Enable recieve mode 341 bsf SSP1CON2, RCEN ; Enable recieve mode
258 rcall WaitMSSP 342 rcall WaitMSSP
259 movff SSP1BUF,compass_DX+0; Data Byte 343 movff SSP1BUF,compass_DX+0; Data Byte
260 bsf SSP1CON2,PEN ; Stop condition 344 bsf SSP1CON2,PEN ; Stop condition
261 rcall WaitMSSP 345 rcall WaitMSSP
262 btfss flip_screen ; 180° rotation ? 346 btfss flip_screen ; 180° rotation ?
263 return ; No, done. 347 return ; No, done.
264 ; Yes, flip X 348 ; Yes, flip X
265 banksel compass_DX 349 banksel compass_DX
266 comf compass_DX+1 ; 16bit sign change. 350 comf compass_DX+1 ; 16bit sign change.
267 negf compass_DX+0 351 negf compass_DX+0
268 btfsc STATUS,C ; Carry to propagate ? 352 btfsc STATUS,C ; Carry to propagate ?
269 incf compass_DX+1,F ; YES: do it. 353 incf compass_DX+1,F ; YES: do it.
270 banksel common 354 banksel common
271 return 355 return
356
357 I2C_RX_compass1: ; New compass
358 bsf SSP1CON2,SEN ; Start condition
359 rcall WaitMSSP
360 movlw 0x3C ; address
361 rcall I2C_TX
362 movlw b'10001000' ; 0x08 with auto-increment (MSB=1)
363 rcall I2C_TX
364 bsf SSP1CON2,RSEN ; Repeated start condition (!)
365 rcall WaitMSSP
366 movlw 0x3D ; address
367 rcall I2C_TX
368
369 rcall I2C_OneByteRX ; Get one byte
370 movff SSP1BUF,lo ; Data Byte
371 rcall I2C_OneByteRX ; Get one byte
372 movff SSP1BUF,hi ; Data Byte
373 rcall I2C_TwoBytesRX_div8_2
374 movff lo,compass_DX+0
375 movff hi,compass_DX+1
376 btfss flip_screen ; 180° rotation ?
377 bra I2C_RX_compass1_1 ; Yes
378 ; Yes, flip X
379 banksel compass_DX
380 comf compass_DX+1 ; 16bit sign change.
381 negf compass_DX+0
382 btfsc STATUS,C ; Carry to propagate ?
383 incf compass_DX+1,F ; YES: do it.
384 banksel common
385 I2C_RX_compass1_1:
386 rcall I2C_OneByteRX ; Get one byte
387 movff SSP1BUF,lo ; Data Byte
388 rcall I2C_OneByteRX ; Get one byte
389 movff SSP1BUF,hi ; Data Byte
390 rcall I2C_TwoBytesRX_div8_2
391 movff lo,compass_DY+0
392 movff hi,compass_DY+1
393 btfss flip_screen ; 180° rotation ?
394 bra I2C_RX_compass1_2 ; Yes
395 ; Yes, flip Y
396 banksel compass_DY
397 comf compass_DY+1 ; 16bit sign change.
398 negf compass_DY+0
399 btfsc STATUS,C ; Carry to propagate ?
400 incf compass_DY+1,F ; YES: do it.
401 I2C_RX_compass1_2:
402 banksel common
403 rcall I2C_OneByteRX ; Get one byte
404 movff SSP1BUF,lo ; Data Byte
405 bsf SSP1CON2, RCEN ; Enable recieve mode
406 rcall WaitMSSP
407 movff SSP1BUF,hi ; Data Byte
408 rcall I2C_TwoBytesRX_div8_2
409 movff lo,compass_DZ+0
410 movff hi,compass_DZ+1
411 bsf SSP1CON2,PEN ; Stop condition
412 rcall WaitMSSP
413 return
272 414
273 global I2C_init_compass 415 global I2C_init_compass
274 I2C_init_compass: 416 I2C_init_compass:
275 bsf SSP1CON2,SEN ; Start condition 417 bsf compass_enabled
276 rcall WaitMSSP 418 bsf compass_type ; set flag
277 movlw 0x3C ; address 419 bsf SSP1CON2,SEN ; Start condition
278 rcall I2C_TX 420 rcall WaitMSSP
279 movlw 0x00 421 movlw 0x3C ; address
280 rcall I2C_TX 422 rcall I2C_TX
281 ; movlw b'01101001' ; ConfigA: 3Hz, 8 Samples averaged, Test Mode (Positive Bias) 423 movlw 0x0F
282 movlw b'01101000' ; ConfigA: 3Hz, 8 Samples averaged 424 rcall I2C_TX
425 bsf SSP1CON2,PEN ; Stop condition
426 rcall WaitMSSP
427 bcf PIR1,SSPIF
428 bsf SSP1CON2,SEN ; Start condition
429 rcall WaitMSSP
430 movlw 0x3D ; address
431 rcall I2C_TX
432 rcall I2C_OneByteRX ; Get one byte
433 movlw 0x49 ; 0x49 = Compass1
434 cpfseq SSP1BUF
435 bcf compass_type ; clear flag
436 bsf SSP1CON2,PEN ; Stop condition
437 rcall WaitMSSP
438
439 btfsc compass_type ; compass1?
440 bra I2C_init_compass1 ; yes
441 ; init compass0
442 bsf SSP1CON2,SEN ; Start condition
443 rcall WaitMSSP
444 movlw 0x3C ; address
445 rcall I2C_TX
446 movlw 0x00
447 rcall I2C_TX
448 ; movlw b'01101001' ; ConfigA: 3Hz, 8 Samples averaged, Test Mode (Positive Bias)
449 movlw b'01101000' ; ConfigA: 3Hz, 8 Samples averaged
283 rcall I2C_TX 450 rcall I2C_TX
284 bra I2C_init_compass_common 451 bra I2C_init_compass_common
285 452
286 global I2C_init_compass_fast 453 global I2C_init_compass_fast
287 I2C_init_compass_fast: 454 I2C_init_compass_fast:
288 bsf SSP1CON2,SEN ; Start condition 455 btfsc compass_type ; compass1?
289 rcall WaitMSSP 456 bra I2C_init_compass_fast1 ; yes
290 movlw 0x3C ; address 457 ;I2C_init_compass_fast0:
291 rcall I2C_TX 458 bsf SSP1CON2,SEN ; Start condition
292 movlw 0x00 459 rcall WaitMSSP
293 rcall I2C_TX 460 movlw 0x3C ; address
294 movlw b'00111000' ; ConfigA: 75Hz, 2 Samples averaged 461 rcall I2C_TX
295 ; movlw b'00111001' ; ConfigA: 75Hz, 2 Samples averaged, Test Mode (Positive Bias) 462 movlw 0x00
463 rcall I2C_TX
464 movlw b'00111000' ; ConfigA: 75Hz, 2 Samples averaged
465 ; movlw b'00111001' ; ConfigA: 75Hz, 2 Samples averaged, Test Mode (Positive Bias)
296 rcall I2C_TX 466 rcall I2C_TX
297 I2C_init_compass_common: 467 I2C_init_compass_common:
298 movff opt_compass_gain,i2c_temp ; 0-7 (230LSB/Gauss to 1370LSB/Gaus) 468 movff opt_compass_gain,i2c_temp ; 0-7 (230LSB/Gauss to 1370LSB/Gauss)
299 swapf i2c_temp,F 469 swapf i2c_temp,F
300 comf i2c_temp,F 470 comf i2c_temp,F
301 bcf STATUS,C 471 bcf STATUS,C
302 rlcf i2c_temp 472 rlcf i2c_temp
303 movf i2c_temp,W 473 movf i2c_temp,W
304 clrf i2c_temp 474 clrf i2c_temp
305 rcall I2C_TX 475 rcall I2C_TX
306 movlw b'00000000' ; Continous Mode 476 movlw b'00000000' ; Continous Mode
307 rcall I2C_TX 477 rcall I2C_TX
308 bsf SSP1CON2,PEN ; Stop condition 478 bsf SSP1CON2,PEN ; Stop condition
309 rcall WaitMSSP 479 rcall WaitMSSP
310 bsf compass_enabled 480 return
311 return 481
312 482 I2C_init_compass1:
483 bsf SSP1CON2,SEN ; Start condition
484 rcall WaitMSSP
485 movlw 0x3C ; address
486 rcall I2C_TX
487 movlw 0x9F ; 1F with auto-increment (MSB=1)
488 rcall I2C_TX
489 movlw b'00000000' ; CTRL0
490 rcall I2C_TX
491 movlw b'00101111' ; CTRL1 (6,25Hz, BDU=0, x,y,z = ON)
492 rcall I2C_TX
493 movlw b'11000000' ; CTRL2 (50Hz, +/-2g,
494 rcall I2C_TX
495 movlw b'00000000' ; CTRL3
496 rcall I2C_TX
497 movlw b'00000000' ; CTRL4
498 rcall I2C_TX
499 movlw b'01100100' ; CTRL5 HIGH res, 6,25Hz
500 rcall I2C_TX
501 ;movlw b'01100000' ; CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss)
502 movlw b'00000000' ; CTRL6 (+/-2 Gauss)
503 rcall I2C_TX
504 movlw b'00000000' ; CTRL7 Continuous Mode
505 rcall I2C_TX
506 bsf SSP1CON2,PEN ; Stop condition
507 rcall WaitMSSP
508 return
509
510 I2C_init_compass_fast1:
511 bsf SSP1CON2,SEN ; Start condition
512 rcall WaitMSSP
513 movlw 0x3C ; address
514 rcall I2C_TX
515 movlw 0x9F ; 1F with auto-increment (MSB=1)
516 rcall I2C_TX
517 movlw b'00000000' ; CTRL0
518 rcall I2C_TX
519 movlw b'01101111' ; CTRL1 (100Hz, BDU=0, x,y,z = ON)
520 rcall I2C_TX
521 movlw b'11000000' ; CTRL2 (50Hz, +/-2g,
522 rcall I2C_TX
523 movlw b'00000000' ; CTRL3
524 rcall I2C_TX
525 movlw b'00000000' ; CTRL4
526 rcall I2C_TX
527 movlw b'01110100' ; CTRL5 HIGH res, 100Hz
528 rcall I2C_TX
529 movlw b'01100000' ; CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss)
530 rcall I2C_TX
531 movlw b'00000000' ; CTRL7 Continuous Mode
532 rcall I2C_TX
533 bsf SSP1CON2,PEN ; Stop condition
534 rcall WaitMSSP
535 return
536
313 global I2C_sleep_compass 537 global I2C_sleep_compass
314 I2C_sleep_compass: 538 I2C_sleep_compass:
315 bsf SSP1CON2,SEN ; Start condition
316 rcall WaitMSSP
317 movlw 0x3C ; address
318 rcall I2C_TX
319 movlw 0x00
320 rcall I2C_TX
321 movlw b'01101000' ; ConfigA
322 rcall I2C_TX
323 movlw b'00100000' ; ConfigB
324 rcall I2C_TX
325 movlw b'00000010' ; Idle Mode
326 rcall I2C_TX
327 bsf SSP1CON2,PEN ; Stop condition
328 rcall WaitMSSP
329 bcf compass_enabled 539 bcf compass_enabled
330 return 540
331 541 btfsc compass_type ; compass1?
542 bra I2C_sleep_compass1 ; yes
543 ;I2C_sleep_compass0:
544 bsf SSP1CON2,SEN ; Start condition
545 rcall WaitMSSP
546 movlw 0x3C ; address
547 rcall I2C_TX
548 movlw 0x00
549 rcall I2C_TX
550 movlw b'01101000' ; ConfigA
551 rcall I2C_TX
552 movlw b'00100000' ; ConfigB
553 rcall I2C_TX
554 movlw b'00000010' ; Idle Mode
555 rcall I2C_TX
556 bsf SSP1CON2,PEN ; Stop condition
557 rcall WaitMSSP
558 return
559
560 I2C_sleep_compass1:
561 bsf SSP1CON2,SEN ; Start condition
562 rcall WaitMSSP
563 movlw 0x3C ; address
564 rcall I2C_TX
565 movlw 0x20 ; CTRL_REG1
566 rcall I2C_TX
567 movlw b'00000000' ; data for CTRL_REG1: acceleration sensor Power-down mode
568 rcall I2C_TX
569 bsf SSP1CON2,PEN ; Stop condition
570 rcall WaitMSSP
571 bsf SSP1CON2,SEN ; Start condition
572 rcall WaitMSSP
573 movlw 0x3C ; address
574 rcall I2C_TX
575 movlw 0x26 ; CTRL_REG7
576 rcall I2C_TX
577 movlw b'00000010' ; data for CTRL_REG7: magnetic sensor Power-down mode
578 rcall I2C_TX
579 bsf SSP1CON2,PEN ; Stop condition
580 rcall WaitMSSP
581 return
582
332 583
333 global I2C_init_accelerometer 584 global I2C_init_accelerometer
334 I2C_init_accelerometer: 585 I2C_init_accelerometer:
586 btfsc compass_type ; compass1?
587 return ; yes, ignore
588
335 rcall I2C_sleep_accelerometer ; Regs can only be changed in St.By mode 589 rcall I2C_sleep_accelerometer ; Regs can only be changed in St.By mode
336 590
337 bsf SSP1CON2,SEN ; Start condition 591 bsf SSP1CON2,SEN ; Start condition
338 rcall WaitMSSP 592 rcall WaitMSSP
339 movlw 0x38 ; address 593 movlw 0x38 ; address
374 628
375 return 629 return
376 630
377 global I2C_sleep_accelerometer 631 global I2C_sleep_accelerometer
378 I2C_sleep_accelerometer: 632 I2C_sleep_accelerometer:
633 btfsc compass_type ; compass1?
634 return ; yes, ignore
635
379 bsf SSP1CON2,SEN ; Start condition 636 bsf SSP1CON2,SEN ; Start condition
380 rcall WaitMSSP 637 rcall WaitMSSP
381 movlw 0x38 ; address 638 movlw 0x38 ; address
382 rcall I2C_TX 639 rcall I2C_TX
383 movlw 0x2A ; CTRL_REG1 640 movlw 0x2A ; CTRL_REG1
580 rcall WaitMSSP 837 rcall WaitMSSP
581 rcall I2C_WaitforACK 838 rcall I2C_WaitforACK
582 bsf SSP1CON2, RCEN ; Enable recieve mode 839 bsf SSP1CON2, RCEN ; Enable recieve mode
583 rcall WaitMSSP 840 rcall WaitMSSP
584 return 841 return
585 842
586 843
587 844 END
588 END