Mercurial > public > hwos_code
diff src/i2c.asm @ 624:7bdcc591196c
Support for Compass3 hardware
| author | heinrichsweikamp |
|---|---|
| date | Thu, 13 Jun 2019 10:07:55 +0200 |
| parents | c40025d8e750 |
| children | bf5fee575701 |
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--- a/src/i2c.asm Mon Jun 03 14:01:48 2019 +0200 +++ b/src/i2c.asm Thu Jun 13 10:07:55 2019 +0200 @@ -25,6 +25,13 @@ ; LSM303AGR's Compass write address (8-Bit): 0x3C ; LSM303AGR's Acceleration read address (8-Bit): 0x33 ; LSM303AGR's Acceleration write address (8-Bit): 0x32 +; +; Compass3 +; -------- +; LSM303C's Compass read address (8-Bit): 0x3D +; LSM303C's Compass write address (8-Bit): 0x3C +; LSM303C's Acceleration read address (8-Bit): 0x3B +; LSM303C's Acceleration write address (8-Bit): 0x3A ; ; RX Circuity ; ----------- @@ -84,6 +91,8 @@ global I2C_RX_accelerometer I2C_RX_accelerometer: + btfsc compass_type3 ; compass3 + bra I2C_RX_accelerometer_compass3 ; yes btfsc compass_type2 ; compass2 ? bra I2C_RX_accelerometer_compass2 ; YES btfsc compass_type ; compass1 ? @@ -161,7 +170,7 @@ bsf SSP1CON2,RSEN ; repeated start condition (!) rcall WaitMSSP movlw 0x3D ; address -I2C_RX_accelerometer_compass1_xx: ; compass2 continues here... +I2C_RX_accelerometer_compass1_xx: ; compass2 and 3 continue here... rcall I2C_TX ; Non-flipped screen: @@ -249,7 +258,19 @@ bsf SSP1CON2,RSEN ; repeated start condition (!) rcall WaitMSSP movlw 0x33 ; address - bra I2C_RX_accelerometer_compass1_xx + bra I2C_RX_accelerometer_compass1_xx + +I2C_RX_accelerometer_compass3: + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3A ; address + rcall I2C_TX + movlw 0x28 ; 0x28 (OUT_X_L_A) + rcall I2C_TX + bsf SSP1CON2,RSEN ; Repeated start condition (!) + rcall WaitMSSP + movlw 0x3B ; address + bra I2C_RX_accelerometer_compass1_xx I2C_OneByteRX: bsf SSP1CON2,RCEN ; enable receive mode @@ -263,6 +284,8 @@ global I2C_RX_compass I2C_RX_compass: + btfsc compass_type3 ; compass3 + bra I2C_RX_compass3 ; YES btfsc compass_type2 ; compass2 ? bra I2C_RX_compass2 ; YES btfsc compass_type ; compass1 ? @@ -402,6 +425,7 @@ rcall WaitMSSP movlw 0x3D ; address rcall I2C_TX +I2C_RX_compass2_xx: ; compass 3 enters here ; rcall WaitMSSP rcall I2C_OneByteRX ; get one byte movff SSP1BUF,lo ; data byte @@ -440,6 +464,19 @@ bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ;(And return) +I2C_RX_compass3: + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0xA8 ; 0x28 with auto-increment (MSB=1) + rcall I2C_TX + bsf SSP1CON2,RSEN ; Repeated start condition (!) + rcall WaitMSSP + movlw 0x3D ; address + rcall I2C_TX + bra I2C_RX_compass2_xx + ENDIF ; _compass ;----------------------------------------------------------------------------- @@ -448,6 +485,21 @@ I2C_init_compass: bsf compass_enabled bcf compass_type2 + bcf compass_type3 + + ; probe compass 3 + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3A ; Address byte + Write bit + movwf SSP1BUF ; control byte + rcall WaitMSSP + btfss SSP1CON2,ACKSTAT ; ACK? + bsf compass_type3 ; ACK send. compass2 present + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP + + btfsc compass_type3 + bra I2C_init_compass3 ; Compass3 ; check for compass2 bsf SSP1CON2,SEN ; start condition @@ -568,10 +620,34 @@ bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return +I2C_init_compass3: + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0xA0 ; 0x20 with auto-increment (MSB=1) + rcall I2C_TX + movlw b'00010000' ; CTRL_REG1_M (10Hz) 0x20 + rcall I2C_TX + movlw b'01100000' ; CTRL_REG2_M (Full-scale: +/- 16gauss) 0x21 + rcall I2C_TX + movlw b'01000000' ; CTRL_REG3_M (Continuous) 0x22 + rcall I2C_TX + movlw b'00000000' ; CTRL_REG4_M (Z in Low-power mode) 0x23 + rcall I2C_TX + movlw b'00000000' ; CTRL_REG5_M 0x24 + rcall I2C_TX + movlw b'00000000' ; CTRL_REG5_M 0x24 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ;(And return) + global I2C_sleep_compass I2C_sleep_compass: bcf compass_enabled + btfsc compass_type3 ; compass3? + bra I2C_sleep_compass3 ; YES btfsc compass_type2 ; compass2 ? bra I2C_sleep_compass2 ; YES btfsc compass_type ; compass1 ? @@ -633,6 +709,18 @@ bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return +I2C_sleep_compass3: + ; magnetic + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0xA2 ; 0x22 with auto-increment (MSB=1) + movlw b'01000010' ; CTRL_REG3_M (Power-down) 0x22 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ;(And return) + I2C_sleep_accelerometer2: ; accelerometer bsf SSP1CON2,SEN ; start condition @@ -648,6 +736,19 @@ bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return +I2C_sleep_accelerometer3: + ; accelerometer + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3A ; address + rcall I2C_TX + movlw 0x20 + rcall I2C_TX + movlw b'00000000' ; CTRL_REG1_A (100Hz, x,y,z = ON) 0x20 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) + WaitMSSP: decfsz i2c_temp1,F ; check for timeout during I2C action @@ -712,6 +813,9 @@ global I2C_init_accelerometer I2C_init_accelerometer: + btfsc compass_type3 ; compass3? + bra I2C_init_accelerometer3 ; YES + btfsc compass_type2 ; compass2 ? bra I2C_init_accelerometer2 ; YES @@ -779,9 +883,27 @@ bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return +I2C_init_accelerometer3: + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3A ; address + rcall I2C_TX + movlw 0x20 + rcall I2C_TX + movlw b'00110111' ; CTRL_REG1_A (100Hz, x,y,z = ON) 0x20 + rcall I2C_TX + movlw b'00000000' ; CTRL_REG2_A 0x21 + rcall I2C_TX + movlw b'00000000' ; CTRL_REG3_A 0x22 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) + global I2C_sleep_accelerometer I2C_sleep_accelerometer: + btfsc compass_type3 ; Compass3 + bra I2C_sleep_accelerometer3 ; YES btfsc compass_type2 ; Compass2 bra I2C_sleep_accelerometer2 ; YES btfsc compass_type ; compass1?