Mercurial > public > hwos_code
diff src/i2c.asm @ 626:be8787f2034d
compass3 support for 3.01 branch
| author | heinrichsweikamp |
|---|---|
| date | Sun, 23 Jun 2019 15:21:16 +0200 |
| parents | 1ad0531e9078 |
| children |
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--- a/src/i2c.asm Sun Jun 23 13:29:17 2019 +0200 +++ b/src/i2c.asm Sun Jun 23 15:21:16 2019 +0200 @@ -1,568 +1,608 @@ ;============================================================================= ; -; File i2c.asm V2.99c +; File i2c.asm ; ; I2C Interface +; + ; Compass0 +; HMC5883L's read address (8-Bit): 0x3D +; HMC5883L's write address (8-Bit): 0x3C +; MMA8452Q's read address (8-Bit): 0x39 +; MMA8452Q's write address (8-Bit): 0x38 +; + ; Compass1 +; LSM303D's read address (8-Bit): 0x3D +; LSM303D's write address (8-Bit): 0x3C +; + ; Compass2 +; LSM303AGR's Compass read address (8-Bit): 0x3D +; 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 +; RX Circuity read address (8-Bit): 0x51 +; RX Circuity write address (8-Bit): 0x50 +; ; ; Copyright (c) 2012, JD Gascuel, HeinrichsWeikamp, all right reserved. ;============================================================================= -; -; Compass0 -; -------- -; HMC5883L's read address (8-Bit): 0x3D -; HMC5883L's write address (8-Bit): 0x3C -; MMA8452Q's read address (8-Bit): 0x39 -; MMA8452Q's write address (8-Bit): 0x38 -; -; Compass1 -; -------- -; LSM303D's read address (8-Bit): 0x3D -; LSM303D's write address (8-Bit): 0x3C -; -; Compass2 -; -------- -; LSM303AGR's Compass read address (8-Bit): 0x3D -; LSM303AGR's Compass write address (8-Bit): 0x3C -; LSM303AGR's Acceleration read address (8-Bit): 0x33 -; LSM303AGR's Acceleration write address (8-Bit): 0x32 -; -; RX Circuity -; ----------- -; RX Circuity read address (8-Bit): 0x51 -; RX Circuity write address (8-Bit): 0x50 -; -; - ; HISTORY ; 2012-08-22 : [mH] Creation -; 2018-02-18 : [mH] Sync with hwOS Sport release -#include "hwos.inc" ; Mandatory header +#include "hwos.inc" ; Mandatory header #include "wait.inc" #include "math.inc" #include "external_flash.inc" - -i2c CODE - -;============================================================================= +i2c CODE I2C_TX: - movwf SSP1BUF - rcall WaitMSSP - bra I2C_WaitforACK ; returns... + movwf SSP1BUF + rcall WaitMSSP + bra I2C_WaitforACK ; Returns... -I2C_TwoBytesRX_div16: ; get two bytes and divide lo:hi/16 (signed) - rcall I2C_OneByteRX ; get one byte - movff SSP1BUF,hi ; data byte - rcall I2C_OneByteRX ; get one byte - movff SSP1BUF,lo ; data byte -I2C_TwoBytesRX_div16_2: ; divide lo:hi/16 (signed) only - bcf STATUS,C - btfsc hi,7 ; copy sign bit to carry - bsf STATUS,C - rrcf hi ; /2 - rrcf lo -I2C_TwoBytesRX_div8_2: ; divide lo:hi/8 (signed) only - bcf STATUS,C - btfsc hi,7 ; copy sign bit to carry - bsf STATUS,C - rrcf hi ; /4 - rrcf lo - bcf STATUS,C - btfsc hi,7 ; copy sign bit to carry - bsf STATUS,C - rrcf hi ; /8 - rrcf lo - bcf STATUS,C - btfsc hi,7 ; copy sign bit to carry - bsf STATUS,C - rrcf hi ; /16 - rrcf lo - return +I2C_TwoBytesRX_div16: ; Get two bytes and devide lo:hi/16 (signed) + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,hi ; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,lo ; Data Byte +I2C_TwoBytesRX_div16_2: ; devide lo:hi/16 (signed) only + bcf STATUS,C + btfsc hi,7 ; Copy sign bit to carry + bsf STATUS,C + rrcf hi ; /2 + rrcf lo +I2C_TwoBytesRX_div8_2: ; devide lo:hi/8 (signed) only + bcf STATUS,C + btfsc hi,7 ; Copy sign bit to carry + bsf STATUS,C + rrcf hi ; /4 + rrcf lo + bcf STATUS,C + btfsc hi,7 ; Copy sign bit to carry + bsf STATUS,C + rrcf hi ; /8 + rrcf lo + bcf STATUS,C + btfsc hi,7 ; Copy sign bit to carry + bsf STATUS,C + rrcf hi ; /16 + rrcf lo + return - global I2C_RX_accelerometer + global I2C_RX_accelerometer I2C_RX_accelerometer: - btfsc compass_type2 ; compass2 ? - bra I2C_RX_accelerometer_compass2 ; YES - btfsc compass_type ; compass1 ? - bra I2C_RX_accelerometer_compass1 ; YES + btfsc compass_type3 ; compass3 + bra I2C_RX_accelerometer_compass3 ; yes + btfsc compass_type2 ; compass2 + bra I2C_RX_accelerometer_compass2 ; yes + btfsc compass_type ; compass1? + bra I2C_RX_accelerometer_compass1 ; yes I2C_RX_accelerometer_compass0: - bsf SSP1CON2,SEN ; start condition - rcall WaitMSSP - movlw 0x38 ; address - rcall I2C_TX - movlw 0x00 - rcall I2C_TX - bsf SSP1CON2,RSEN ; repeated start condition - rcall WaitMSSP - movlw 0x39 ; address - rcall I2C_TX - - rcall I2C_OneByteRX ; get status byte - movf SSP1BUF,W + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x38 ; address + rcall I2C_TX + movlw 0x00 + rcall I2C_TX + bsf SSP1CON2,RSEN ; Repeated start condition (!) + rcall WaitMSSP + movlw 0x39 ; address + rcall I2C_TX - ; Non-flipped screen: - ; Chip orientation on the PCB requires - ; Original = corrected - ; x = -x - ; y = -y - ; z = -z + rcall I2C_OneByteRX ; Get Status Byte + movf SSP1BUF,W + + ; Non-flipped screen: + ; Chip orientation on the PCB requires + ; Original = Corrected + ; x = -x + ; y = -y + ; z = -z - ; Flipped screen: - ; Chip orientation on the PCB requires - ; Original = corrected - ; x = x - ; y = y - ; z = -z + ; Flipped screen: + ; Chip orientation on the PCB requires + ; Original = Corrected + ; x = x + ; y = y + ; z = -z - rcall I2C_TwoBytesRX_div16 ; get two bytes and divide /16 (signed) - btfsc flip_screen ; 180° rotation ? - bra I2C_RX_accelerometer2 ; YES - comf hi ; 16 bit sign change - negf lo - btfsc STATUS,C ; carry to propagate ? - incf hi,F ; YES - do it + rcall I2C_TwoBytesRX_div16 ; Get two bytes and devide /16 (signed) + btfsc flip_screen ; 180° rotation ? + bra I2C_RX_accelerometer2 ; Yes + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. I2C_RX_accelerometer2: - movff lo,accel_DX+0 - movff hi,accel_DX+1 ; Copy result + movff lo,accel_DX+0 + movff hi,accel_DX+1 ; Copy result - rcall I2C_TwoBytesRX_div16 ; Get two bytes and divide /16 (signed) - btfsc flip_screen ; 180° rotation ? - bra I2C_RX_accelerometer3 ; Yes - comf hi ; 16bit sign change. - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. + rcall I2C_TwoBytesRX_div16 ; Get two bytes and devide /16 (signed) + btfsc flip_screen ; 180° rotation ? + bra I2C_RX_accelerometer3 ; Yes + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. I2C_RX_accelerometer3: - movff lo,accel_DY+0 - movff hi,accel_DY+1 ; Copy result + movff lo,accel_DY+0 + movff hi,accel_DY+1 ; Copy result - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,hi ; Data Byte - bsf SSP1CON2, RCEN ; Enable receive mode - rcall WaitMSSP -; According to data sheet there should be no Master Acknowledge for the last Byte (accel_DZ+0)... - movff SSP1BUF,lo ; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,hi ; Data Byte + bsf SSP1CON2, RCEN ; Enable recieve mode + rcall WaitMSSP +; According to datasheet there should be no Master Acknowlegde for the last Byte (accel_DZ+0)... + movff SSP1BUF,lo ; Data Byte - rcall I2C_TwoBytesRX_div16_2 ; divide lo:hi/16 (signed) only - comf hi ; 16bit sign change. - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. - movff lo,accel_DZ+0 - movff hi,accel_DZ+1 ; Copy result + rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. + movff lo,accel_DZ+0 + movff hi,accel_DZ+1 ; Copy result - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ; (And return) + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) I2C_RX_accelerometer_compass1: - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw b'10101000' ; 0x28 with auto-increment (MSB=1) - rcall I2C_TX - bsf SSP1CON2,RSEN ; Repeated start condition (!) - rcall WaitMSSP - movlw 0x3D ; address -I2C_RX_accelerometer_compass1_xx: ; compass2 continues here... - rcall I2C_TX - - ; Non-flipped screen: - ; Chip orientation on the PCB requires - ; Original = Corrected - ; x = -x (Compass 1) - ; x = x (Compass 2) - ; y = -y - ; z = -z - - ; Flipped screen: - ; Chip orientation on the PCB requires - ; Original = Corrected - ; x = x (Compass 1) - ; x = -x (Compass 2) - ; y = y - ; z = -z + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw b'10101000' ; 0x28 with auto-increment (MSB=1) + rcall I2C_TX + bsf SSP1CON2,RSEN ; Repeated start condition (!) + rcall WaitMSSP + movlw 0x3D ; address +I2C_RX_accelerometer_compass1_xx: ; compass2 and 3 continue here... + rcall I2C_TX + ; Non-flipped screen: + ; Chip orientation on the PCB requires + ; Original = Corrected + ; x = -x (Compass 1) + ; x = x (Compass 2) + ; y = -y + ; z = -z - ; Dump the accelerator data - rcall I2C_OneByteRX - movff SSP1BUF,lo ; accel_DX+0 - rcall I2C_OneByteRX - movff SSP1BUF,hi ;accel_DX+1 - rcall I2C_TwoBytesRX_div16_2 ; divide lo:hi/16 (signed) only - btfss compass_type2 ; compass 2? - bra I2C_RX_accelerometer1_c1 ; No, compass 1 - ; compass 2 - btfss flip_screen ; 180° rotation ? - bra I2C_RX_accelerometer2_c1 ; No, continue with normal compass1 routines for Y and Z - ; flipped compass 2, negate x - comf hi ; 16bit sign change. - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. - bra I2C_RX_accelerometer2_c1 ; continue with normal compass1 routines for Y and Z - -I2C_RX_accelerometer1_c1: - btfsc flip_screen ; 180° rotation ? - bra I2C_RX_accelerometer2_c1 ; Yes - ; non-flipped compass 1, negate x - comf hi ; 16bit sign change. - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. + ; Flipped screen: + ; Chip orientation on the PCB requires + ; Original = Corrected + ; x = x (Compass 1) + ; x = -x (Compass 2) + ; y = y + ; z = -z + + ; Dump the accelerator data + rcall I2C_OneByteRX + movff SSP1BUF,lo ;accel_DX+0 + rcall I2C_OneByteRX + movff SSP1BUF,hi ;accel_DX+1 + rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only + btfss compass_type2 ; compass 2? + bra I2C_RX_accelerometer1_c1 ; No, compass 1 + ; compass 2 + btfss flip_screen ; 180° rotation ? + bra I2C_RX_accelerometer2_c1 ; No, continue with normal compass1 routines for Y and Z + ; flipped compass 2, negate x + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. + bra I2C_RX_accelerometer2_c1 ; continue with normal compass1 routines for Y and Z + +I2C_RX_accelerometer1_c1: + btfsc flip_screen ; 180° rotation ? + bra I2C_RX_accelerometer2_c1 ; Yes + ; non-flipped compass 1, negate x + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. I2C_RX_accelerometer2_c1: - ; flipped compass 1, non-flipped compass 2 - movff lo,accel_DX+0 - movff hi,accel_DX+1 ; Copy result - rcall I2C_OneByteRX - movff SSP1BUF,lo ; accel_DY+0 - rcall I2C_OneByteRX - movff SSP1BUF,hi ; accel_DY+1 - - rcall I2C_TwoBytesRX_div16_2 ; divide lo:hi/16 (signed) only - btfsc flip_screen ; 180° rotation ? - bra I2C_RX_accelerometer3_c1 ; Yes - comf hi ; 16bit sign change. - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. + ; flipped compass 1, non-flipped compass 2 + movff lo,accel_DX+0 + movff hi,accel_DX+1 ; Copy result + rcall I2C_OneByteRX + movff SSP1BUF,lo ;accel_DY+0 + rcall I2C_OneByteRX + movff SSP1BUF,hi ;accel_DY+1 + + rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only + btfsc flip_screen ; 180° rotation ? + bra I2C_RX_accelerometer3_c1 ; Yes + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. I2C_RX_accelerometer3_c1: - movff lo,accel_DY+0 - movff hi,accel_DY+1 ; Copy result + movff lo,accel_DY+0 + movff hi,accel_DY+1 ; Copy result - rcall I2C_OneByteRX - movff SSP1BUF,lo ;accel_DZ+0 - bsf SSP1CON2, RCEN ; Enable receive mode - rcall WaitMSSP -; According to data sheet there should be no Master Acknowledge for the last Byte (accel_DZ+1)... - movff SSP1BUF,hi ;accel_DZ+1 - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP - rcall I2C_TwoBytesRX_div16_2 ; divide lo:hi/16 (signed) only - comf hi ; 16bit sign change for Z - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. - movff lo,accel_DZ+0 - movff hi,accel_DZ+1 ; Copy result - return + rcall I2C_OneByteRX + movff SSP1BUF,lo ;accel_DZ+0 + bsf SSP1CON2, RCEN ; Enable recieve mode + rcall WaitMSSP +; According to datasheet there should be no Master Acknowlegde for the last Byte (accel_DZ+1)... + movff SSP1BUF,hi ;accel_DZ+1 + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP + rcall I2C_TwoBytesRX_div16_2; devide lo:hi/16 (signed) only + comf hi ; 16bit sign change for Z + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. + movff lo,accel_DZ+0 + movff hi,accel_DZ+1 ; Copy result + return I2C_RX_accelerometer_compass2: - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x32 ; address - rcall I2C_TX - movlw b'10101000' ; 0x28 with auto-increment (MSB=1) - rcall I2C_TX - bsf SSP1CON2,RSEN ; Repeated start condition (!) - rcall WaitMSSP - movlw 0x33 ; address - bra I2C_RX_accelerometer_compass1_xx - + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x32 ; address + rcall I2C_TX + movlw b'10101000' ; 0x28 with auto-increment (MSB=1) + rcall I2C_TX + bsf SSP1CON2,RSEN ; Repeated start condition (!) + rcall WaitMSSP + movlw 0x33 ; address + 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 - rcall WaitMSSP - bsf SSP1CON2,ACKEN ; Master acknowledge - bra WaitMSSP ; And return! + bsf SSP1CON2, RCEN ; Enable recieve mode + rcall WaitMSSP + bsf SSP1CON2,ACKEN ; Master acknowlegde + bra WaitMSSP ; And return! - global I2C_RX_compass + global I2C_RX_compass I2C_RX_compass: - btfsc compass_type2 ; compass2 - bra I2C_RX_compass2 ; yes - btfsc compass_type ; compass1? - bra I2C_RX_compass1 ; yes + btfsc compass_type3 ; compass3 + bra I2C_RX_compass3 ; yes + btfsc compass_type2 ; compass2 + bra I2C_RX_compass2 ; yes + btfsc compass_type ; compass1? + bra I2C_RX_compass1 ; yes I2C_RX_compass0: - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0x03 - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0x03 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP - bcf PIR1,SSP1IF - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3D ; address - rcall I2C_TX + bcf PIR1,SSP1IF + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3D ; address + rcall I2C_TX - ; Compass IC sends data in following order: - ; x MSB - ; x LSB - ; z MSB - ; z LSB - ; y MSB - ; y LSB + ; Compass IC sends data in following order: + ; x MSB + ; x LSB + ; z MSB + ; z LSB + ; y MSB + ; y LSB - ; Non-flipped screen - ; Chip orientation on the PCB requires - ; Original = Corrected - ; x = -y - ; z = z - ; y = x - - ; Flipped screen - ; Chip orientation on the PCB requires - ; Original = Corrected - ; x = y - ; z = z - ; y = -x + ; Non-flipped screen + ; Chip orientation on the PCB requires + ; Original = Corrected + ; x = -y + ; z = z + ; y = x - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,compass_DY+1 ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,compass_DY+0 ; Data Byte - btfsc flip_screen ; 180° rotation ? - bra I2C_RX_compass0_2 ; Yes - banksel compass_DY - comf compass_DY+1 ; 16bit sign change. - negf compass_DY+0 - btfsc STATUS,C ; Carry to propagate ? - incf compass_DY+1,F ; YES: do it. + ; Flipped screen + ; Chip orientation on the PCB requires + ; Original = Corrected + ; x = y + ; z = z + ; y = -x + + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,compass_DY+1; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,compass_DY+0; Data Byte + btfsc flip_screen ; 180° rotation ? + bra I2C_RX_compass0_2 ; Yes + banksel compass_DY + comf compass_DY+1 ; 16bit sign change. + negf compass_DY+0 + btfsc STATUS,C ; Carry to propagate ? + incf compass_DY+1,F ; YES: do it. I2C_RX_compass0_2: - banksel common - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,compass_DZ+1 ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,compass_DZ+0 ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,compass_DX+1 ; Data Byte - bsf SSP1CON2, RCEN ; Enable receive mode - rcall WaitMSSP - movff SSP1BUF,compass_DX+0 ; Data Byte - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP - btfss flip_screen ; 180° rotation ? - return ; No, done. - ; Yes, flip X - banksel compass_DX - comf compass_DX+1 ; 16bit sign change. - negf compass_DX+0 - btfsc STATUS,C ; Carry to propagate ? - incf compass_DX+1,F ; YES: do it. - banksel common - return - -I2C_RX_compass1: ; New compass - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw b'10001000' ; 0x08 with auto-increment (MSB=1) - rcall I2C_TX - bsf SSP1CON2,RSEN ; Repeated start condition (!) - rcall WaitMSSP - movlw 0x3D ; address - rcall I2C_TX - ;rcall WaitMSSP ; Needed? (mH) - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,lo ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,hi ; Data Byte - rcall I2C_TwoBytesRX_div8_2 - movff lo,compass_DX+0 - movff hi,compass_DX+1 - btfss flip_screen ; 180° rotation ? - bra I2C_RX_compass1_1 ; Yes - ; Yes, flip X - banksel compass_DX - comf compass_DX+1 ; 16bit sign change. - negf compass_DX+0 - btfsc STATUS,C ; Carry to propagate ? - incf compass_DX+1,F ; YES: do it. - banksel common + banksel common + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,compass_DZ+1; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,compass_DZ+0; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,compass_DX+1; Data Byte + bsf SSP1CON2, RCEN ; Enable recieve mode + rcall WaitMSSP + movff SSP1BUF,compass_DX+0; Data Byte + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP + btfss flip_screen ; 180° rotation ? + return ; No, done. + ; Yes, flip X + banksel compass_DX + comf compass_DX+1 ; 16bit sign change. + negf compass_DX+0 + btfsc STATUS,C ; Carry to propagate ? + incf compass_DX+1,F ; YES: do it. + banksel common + return + +I2C_RX_compass1: ; New compass + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw b'10001000' ; 0x08 with auto-increment (MSB=1) + rcall I2C_TX + bsf SSP1CON2,RSEN ; Repeated start condition (!) + rcall WaitMSSP + movlw 0x3D ; address + rcall I2C_TX +;rcall WaitMSSP ; Needed? (mH) + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,lo ; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,hi ; Data Byte + rcall I2C_TwoBytesRX_div8_2 + movff lo,compass_DX+0 + movff hi,compass_DX+1 + btfss flip_screen ; 180° rotation ? + bra I2C_RX_compass1_1 ; Yes + ; Yes, flip X + banksel compass_DX + comf compass_DX+1 ; 16bit sign change. + negf compass_DX+0 + btfsc STATUS,C ; Carry to propagate ? + incf compass_DX+1,F ; YES: do it. + banksel common I2C_RX_compass1_1: - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,lo ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,hi ; Data Byte - rcall I2C_TwoBytesRX_div8_2 - movff lo,compass_DY+0 - movff hi,compass_DY+1 - btfss flip_screen ; 180° rotation ? - bra I2C_RX_compass1_2 ; Yes - ; Yes, flip Y - banksel compass_DY - comf compass_DY+1 ; 16bit sign change. - negf compass_DY+0 - btfsc STATUS,C ; Carry to propagate ? - incf compass_DY+1,F ; YES: do it. + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,lo ; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,hi ; Data Byte + rcall I2C_TwoBytesRX_div8_2 + movff lo,compass_DY+0 + movff hi,compass_DY+1 + btfss flip_screen ; 180° rotation ? + bra I2C_RX_compass1_2 ; Yes + ; Yes, flip Y + banksel compass_DY + comf compass_DY+1 ; 16bit sign change. + negf compass_DY+0 + btfsc STATUS,C ; Carry to propagate ? + incf compass_DY+1,F ; YES: do it. I2C_RX_compass1_2: - banksel common - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,lo ; Data Byte - bsf SSP1CON2, RCEN ; Enable receive mode - rcall WaitMSSP - movff SSP1BUF,hi ; Data Byte - rcall I2C_TwoBytesRX_div8_2 - movff lo,compass_DZ+0 - movff hi,compass_DZ+1 - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ;(And return) + banksel common + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,lo ; Data Byte + bsf SSP1CON2, RCEN ; Enable recieve mode + rcall WaitMSSP + movff SSP1BUF,hi ; Data Byte + rcall I2C_TwoBytesRX_div8_2 + movff lo,compass_DZ+0 + movff hi,compass_DZ+1 + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ;(And return) -I2C_RX_compass2: ; newest compass - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0xE8 ; 0x68 with auto-increment (MSB=1) - rcall I2C_TX - bsf SSP1CON2,RSEN ; Repeated start condition (!) - rcall WaitMSSP - movlw 0x3D ; address - rcall I2C_TX -; rcall WaitMSSP - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,lo ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,hi ; Data Byte -; rcall I2C_TwoBytesRX_div8_2 - btfsc flip_screen ; 180° rotation ? - bra I2C_RX_compass2_1 ; Yes, do nothing with X - ; No, flip X - comf hi ; 16bit sign change. - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. -I2C_RX_compass2_1: - movff lo,compass_DX+0 - movff hi,compass_DX+1 - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,lo ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,hi ; Data Byte -; rcall I2C_TwoBytesRX_div8_2 - btfss flip_screen ; 180° rotation ? - bra I2C_RX_compass2_2 ; No, do nothing with Y - ; Yes, flip Y - comf hi ; 16bit sign change. - negf lo - btfsc STATUS,C ; Carry to propagate ? - incf hi,F ; YES: do it. +I2C_RX_compass2: ; newest compass + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0xE8 ; 0x68 with auto-increment (MSB=1) + rcall I2C_TX + bsf SSP1CON2,RSEN ; Repeated start condition (!) + 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 + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,hi ; Data Byte +; rcall I2C_TwoBytesRX_div8_2 + btfsc flip_screen ; 180° rotation ? + bra I2C_RX_compass2_1 ; Yes, do nothing with X + ; No, flip X + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. +I2C_RX_compass2_1: + movff lo,compass_DX+0 + movff hi,compass_DX+1 + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,lo ; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,hi ; Data Byte +; rcall I2C_TwoBytesRX_div8_2 + btfss flip_screen ; 180° rotation ? + bra I2C_RX_compass2_2 ; No, do nothing with Y + ; Yes, flip Y + comf hi ; 16bit sign change. + negf lo + btfsc STATUS,C ; Carry to propagate ? + incf hi,F ; YES: do it. I2C_RX_compass2_2: - movff lo,compass_DY+0 - movff hi,compass_DY+1 - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,lo ; Data Byte - rcall I2C_OneByteRX ; Get one byte - movff SSP1BUF,hi ; Data Byte -; rcall I2C_TwoBytesRX_div8_2 - movff lo,compass_DZ+0 - movff hi,compass_DZ+1 - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ;(And return) - - - global I2C_init_compass -I2C_init_compass: - bsf compass_enabled - bcf compass_type2 - ; probe compass 2 - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x32 ; Address byte + Write bit - movwf SSP1BUF ; control byte - rcall WaitMSSP - btfss SSP1CON2,ACKSTAT ; ACK? - bsf compass_type2 ; ACK send. compass2 present - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP + movff lo,compass_DY+0 + movff hi,compass_DY+1 + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,lo ; Data Byte + rcall I2C_OneByteRX ; Get one byte + movff SSP1BUF,hi ; Data Byte + ;rcall I2C_TwoBytesRX_div8_2 + movff lo,compass_DZ+0 + movff hi,compass_DZ+1 + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ;(And return) - btfsc compass_type2 - bra I2C_init_compass2 ; Compass2 - ; Check for compass0 or compass1... - bsf compass_type ; set flag - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0x0F - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP - bcf PIR1,SSP1IF - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3D ; address - rcall I2C_TX - rcall I2C_OneByteRX ; Get one byte - movlw 0x49 ; 0x49 = Compass1 - cpfseq SSP1BUF - bcf compass_type ; clear flag - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP +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 + + global I2C_init_compass +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 + + ; probe compass 2 + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x32 ; Address byte + Write bit + movwf SSP1BUF ; control byte + rcall WaitMSSP + btfss SSP1CON2,ACKSTAT ; ACK? + bsf compass_type2 ; ACK send. compass2 present + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP + + btfsc compass_type2 + bra I2C_init_compass2 ; Compass2 + ; Check for compass0 or compass1... + bsf compass_type ; set flag + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0x0F + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP + bcf PIR1,SSP1IF + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3D ; address + rcall I2C_TX + rcall I2C_OneByteRX ; Get one byte + movlw 0x49 ; 0x49 = Compass1 + cpfseq SSP1BUF + bcf compass_type ; clear flag + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP - btfsc compass_type ; compass1? - bra I2C_init_compass1 ; yes + btfsc compass_type ; compass1? + bra I2C_init_compass1 ; yes ; init compass0 - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0x00 - rcall I2C_TX -; movlw b'01101001' ; ConfigA: 3Hz, 8 Samples averaged, Test Mode (Positive Bias) - movlw b'01101000' ; ConfigA: 3Hz, 8 Samples averaged - rcall I2C_TX + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0x00 + rcall I2C_TX +; movlw b'01101001' ; ConfigA: 3Hz, 8 Samples averaged, Test Mode (Positive Bias) + movlw b'01101000' ; ConfigA: 3Hz, 8 Samples averaged + rcall I2C_TX I2C_init_compass_common: - movff opt_compass_gain,i2c_temp1 ; 0-7 (230LSB/Gauss to 1370LSB/Gauss) - swapf i2c_temp1,F - comf i2c_temp1,F - bcf STATUS,C - rlcf i2c_temp1 - movf i2c_temp1,W - clrf i2c_temp1 - rcall I2C_TX - movlw b'00000000' ; Continuous Mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ; (And return) + movff opt_compass_gain,i2c_temp1 ; 0-7 (230LSB/Gauss to 1370LSB/Gauss) + swapf i2c_temp1,F + comf i2c_temp1,F + bcf STATUS,C + rlcf i2c_temp1 + movf i2c_temp1,W + clrf i2c_temp1 + rcall I2C_TX + movlw b'00000000' ; Continous Mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) I2C_init_compass1: - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0x9F ; 1F with auto-increment (MSB=1) - rcall I2C_TX - movlw b'00000000' ; CTRL0 - rcall I2C_TX - movlw b'00101111' ; CTRL1 (6,25Hz, BDU=0, x,y,z = ON) - rcall I2C_TX - movlw b'11000000' ; CTRL2 (50Hz, +/-2g, - rcall I2C_TX - movlw b'00000000' ; CTRL3 - rcall I2C_TX - movlw b'00000000' ; CTRL4 - rcall I2C_TX - movlw b'01100100' ; CTRL5 HIGH res, 6,25Hz - rcall I2C_TX + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0x9F ; 1F with auto-increment (MSB=1) + rcall I2C_TX + movlw b'00000000' ; CTRL0 + rcall I2C_TX + movlw b'00101111' ; CTRL1 (6,25Hz, BDU=0, x,y,z = ON) + rcall I2C_TX + movlw b'11000000' ; CTRL2 (50Hz, +/-2g, + rcall I2C_TX + movlw b'00000000' ; CTRL3 + rcall I2C_TX + movlw b'00000000' ; CTRL4 + rcall I2C_TX + movlw b'01100100' ; CTRL5 HIGH res, 6,25Hz + rcall I2C_TX init_compass1_common: - movff opt_compass_gain,i2c_temp1 ; 0-7 (230LSB/Gauss to 1370LSB/Gauss) +++ - movlw b'01100000' ; CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss) - dcfsnz i2c_temp1,F ; = 1? - movlw b'01100000' ; Yes, CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss) - dcfsnz i2c_temp1,F ; = 2? - movlw b'01000000' ; Yes, CTRL6 (+/-8 Gauss) - dcfsnz i2c_temp1,F ; = 3? - movlw b'01000000' ; Yes, CTRL6 (+/-8 Gauss) - dcfsnz i2c_temp1,F ; = 4? - movlw b'00100000' ; Yes, CTRL6 (+/-4 Gauss) - dcfsnz i2c_temp1,F ; = 5? - movlw b'00100000' ; Yes, CTRL6 (+/-4 Gauss) - dcfsnz i2c_temp1,F ; = 6? - movlw b'00000000' ; Yes, CTRL6 (+/-2 Gauss) - dcfsnz i2c_temp1,F ; = 7? - movlw b'00000000' ; Yes, CTRL6 (+/-2 Gauss) - rcall I2C_TX - movlw b'00000000' ; CTRL7 Continuous Mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ; (And return) - + movff opt_compass_gain,i2c_temp1 ; 0-7 (230LSB/Gauss to 1370LSB/Gauss) + movlw b'01100000' ; CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss) + dcfsnz i2c_temp1,F ; = 1? + movlw b'01100000' ; Yes, CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss) + dcfsnz i2c_temp1,F ; = 2? + movlw b'01000000' ; Yes, CTRL6 (+/-8 Gauss) + dcfsnz i2c_temp1,F ; = 3? + movlw b'01000000' ; Yes, CTRL6 (+/-8 Gauss) + dcfsnz i2c_temp1,F ; = 4? + movlw b'00100000' ; Yes, CTRL6 (+/-4 Gauss) + dcfsnz i2c_temp1,F ; = 5? + movlw b'00100000' ; Yes, CTRL6 (+/-4 Gauss) + dcfsnz i2c_temp1,F ; = 6? + movlw b'00000000' ; Yes, CTRL6 (+/-2 Gauss) + dcfsnz i2c_temp1,F ; = 7? + movlw b'00000000' ; Yes, CTRL6 (+/-2 Gauss) + rcall I2C_TX + movlw b'00000000' ; CTRL7 Continuous Mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) + I2C_init_compass2: bsf SSP1CON2,SEN ; Start condition rcall WaitMSSP @@ -570,61 +610,147 @@ rcall I2C_TX movlw 0xE0 ; 0x60 with auto-increment (MSB=1) rcall I2C_TX - movlw b'00000000' ; CFG_REG_A_M (10Hz, Continuous) 0x60 + movlw b'10000000' ; CFG_REG_A_M (10Hz, Continuous) 0x60 rcall I2C_TX - movlw b'00000000' ; CFG_REG_B_M (Low-Pass Filter off) 0x61 (set pulse is released every 63 ODR) + movlw b'00000001' ; CFG_REG_B_M (Low-Pass Filter enabled) 0x61 (set pulse is released every 63 ODR) rcall I2C_TX - movlw b'00000000' ; CFG_REG_C_M BDU=0 0x62 + movlw b'00010000' ; CFG_REG_C_M BDU=1 0x62 rcall I2C_TX 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'01110000' ; 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) + + +WaitMSSP: + decfsz i2c_temp1,F ; check for timeout during I2C action + bra WaitMSSP2 + bra I2CFail ; timeout occured +WaitMSSP2: + btfss PIR1,SSP1IF + bra WaitMSSP + clrf i2c_temp1 + bcf PIR1,SSP1IF + return - global I2C_sleep_compass +I2C_WaitforACK: + btfss SSP1CON2,ACKSTAT ; checks for ACK bit from slave + return +I2CFail: + rcall I2CReset ; I2C Reset + bcf PIR1,SSP1IF + clrf i2c_temp1 + bsf i2c_error_flag ; set error flag + return + +I2CReset: ; Something went wrong (Slave holds SDA low?) + clrf SSP1CON1 ; wake-up slave and reset entire module + clrf SSP1CON2 + clrf SSP1STAT + bcf TRISC,3 ; SCL OUTPUT + bsf TRISC,4 ; SDA Input + bcf PORTC,3 + movlw d'9' + movwf i2c_temp1 ; clock-out 9 clock cycles manually +I2CReset_1: + bsf PORTC,3 ; SCL=1 + nop + nop + nop + nop + btfsc PORTC,4 ; SDA=1? + bra I2CReset_2 ; =1, SDA has been released from slave + bcf PORTC,3 ; SCL=0 + nop + nop + bcf PORTC,3 + nop + nop + decfsz i2c_temp1,F + bra I2CReset_1 ; check for nine clock cycles +I2CReset_2: + bsf TRISC,3 ; SCL Input + clrf SSP1CON1 ; setup I²C Mode + WAITMS d'10' ; Reset-Timeout for I2C devices + movlw b'00000000' ; with slew rate control + movwf SSP1STAT + movlw b'00101000' + movwf SSP1CON1 + movlw b'00000000' + movwf SSP1CON2 + movlw 0x27 + movwf SSP1ADD + return + + + global I2C_sleep_compass I2C_sleep_compass: - bcf compass_enabled - btfsc compass_type2 ; compass2? - bra I2C_sleep_compass2 ; yes - btfsc compass_type ; compass1? - bra I2C_sleep_compass1 ; yes + 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? + bra I2C_sleep_compass1 ; yes I2C_sleep_compass0: - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0x00 - rcall I2C_TX - movlw b'01101000' ; ConfigA - rcall I2C_TX - movlw b'00100000' ; ConfigB - rcall I2C_TX - movlw b'00000010' ; Idle Mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ; (And return) + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0x00 + rcall I2C_TX + movlw b'01101000' ; ConfigA + rcall I2C_TX + movlw b'00100000' ; ConfigB + rcall I2C_TX + movlw b'00000010' ; Idle Mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) I2C_sleep_compass1: - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0x20 ; CTRL_REG1 - rcall I2C_TX - movlw b'00000000' ; data for CTRL_REG1: acceleration sensor Power-down mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x3C ; address - rcall I2C_TX - movlw 0x26 ; CTRL_REG7 - rcall I2C_TX - movlw b'00000010' ; data for CTRL_REG7: magnetic sensor Power-down mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ;(And return) + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0x20 ; CTRL_REG1 + rcall I2C_TX + movlw b'00000000' ; data for CTRL_REG1: acceleration sensor Power-down mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3C ; address + rcall I2C_TX + movlw 0x26 ; CTRL_REG7 + rcall I2C_TX + movlw b'00000010' ; data for CTRL_REG7: magnetic sensor Power-down mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ;(And return) + I2C_sleep_compass2: ; magnetic bsf SSP1CON2,SEN ; Start condition @@ -644,6 +770,19 @@ 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) + rcall I2C_TX + 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 @@ -660,153 +799,129 @@ bsf SSP1CON2,PEN ; Stop condition bra WaitMSSP ; (And return) -WaitMSSP: - decfsz i2c_temp1,F ; check for timeout during I2C action - bra WaitMSSP2 - bra I2CFail ; timeout occurred -WaitMSSP2: - btfss PIR1,SSP1IF - bra WaitMSSP - clrf i2c_temp1 - bcf PIR1,SSP1IF - 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 = OFF) 0x20 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) + + 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. + btfsc compass_type ; compass1? + return ; yes, ignore -I2C_WaitforACK: - btfss SSP1CON2,ACKSTAT ; checks for ACK bit from slave - return -I2CFail: - rcall I2CReset ; I2C Reset - bcf PIR1,SSP1IF - clrf i2c_temp1 - bsf i2c_error_flag ; set error flag - return + rcall I2C_sleep_accelerometer ; Regs can only be changed in St.By mode -I2CReset: ; something went wrong (slave holds SDA low?) - clrf SSP1CON1 ; wake-up slave and reset entire module - clrf SSP1CON2 - clrf SSP1STAT - bcf TRISC,3 ; SCL OUTPUT - bsf TRISC,4 ; SDA input - bcf PORTC,3 - movlw d'9' - movwf i2c_temp1 ; clock-out 9 clock cycles manually -I2CReset_1: - bsf PORTC,3 ; SCL = 1 - nop - nop - nop - nop - btfsc PORTC,4 ; SDA = 1 ? - bra I2CReset_2 ; YES - =1, SDA has been released from slave - bcf PORTC,3 ; NO - set SCL = 0 - nop - nop - bcf PORTC,3 - nop - nop - decfsz i2c_temp1,F - bra I2CReset_1 ; check for nine clock cycles -I2CReset_2: - bsf TRISC,3 ; SCL Input - clrf SSP1CON1 ; setup I²C mode - WAITMS d'10' ; reset-timeout for I2C devices - movlw b'00000000' ; with slew rate control - movwf SSP1STAT - movlw b'00101000' - movwf SSP1CON1 - movlw b'00000000' - movwf SSP1CON2 - movlw 0x27 - movwf SSP1ADD - return - - global I2C_init_accelerometer -I2C_init_accelerometer: - btfsc compass_type2 ; compass2? - bra I2C_init_accelerometer2 ; Yes. + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x38 ; address + rcall I2C_TX + movlw 0x0E ; XYZ_DATA_CFG + rcall I2C_TX + movlw b'00000000' ; High pass Filter=0 , +/- 2g range + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP + - btfsc compass_type ; compass1? - return ; yes, ignore - - rcall I2C_sleep_accelerometer ; Regs can only be changed in St.By mode + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x38 ; address + rcall I2C_TX + movlw 0x2A ; CTRL_REG1 + rcall I2C_TX +; movlw b'00110000' ; CTRL_REG1: 160ms data rate, St.By Mode + movlw b'00110100' ; CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode + rcall I2C_TX + movlw b'00000010' ; CTRL_REG2: High Res in Active mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + rcall WaitMSSP - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x38 ; address - rcall I2C_TX - movlw 0x0E ; XYZ_DATA_CFG - rcall I2C_TX - movlw b'00000000' ; High pass Filter=0 , +/- 2g range - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP - - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x38 ; address - rcall I2C_TX - movlw 0x2A ; CTRL_REG1 - rcall I2C_TX -; movlw b'00110000' ; CTRL_REG1: 160ms data rate, St.By Mode - movlw b'00110100' ; CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode - rcall I2C_TX - movlw b'00000010' ; CTRL_REG2: High Res in Active mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - rcall WaitMSSP - - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x38 ; address - rcall I2C_TX - movlw 0x2A ; CTRL_REG1 - rcall I2C_TX -; movlw b'00110001' ; CTRL_REG1: 160ms data rate, Active Mode - movlw b'00110101' ; CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode, Active Mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ; (And return) - + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x38 ; address + rcall I2C_TX + movlw 0x2A ; CTRL_REG1 + rcall I2C_TX +; movlw b'00110001' ; CTRL_REG1: 160ms data rate, Active Mode + movlw b'00110101' ; CTRL_REG1: 160ms data rate, St.By Mode, reduced noise mode, Active Mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) + I2C_init_accelerometer2: - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x32 ; address - rcall I2C_TX - movlw 0x9F ; 1F with auto-increment (MSB=1) - rcall I2C_TX - movlw b'00000000' ; TEMP_CFG_REG_A (Temp sensor off) - rcall I2C_TX - movlw b'01010111' ; CTRL_REG1_A (100Hz, x,y,z = ON) - rcall I2C_TX - movlw b'00000000' ; CTRL_REG2_A - rcall I2C_TX -; movlw b'00000000' ; CTRL_REG3_A -; rcall I2C_TX -; movlw b'00000000' ; CTRL_REG4_A (BDU=0, +/-2g, -; rcall I2C_TX -; movlw b'00000000' ; CTRL_REG5_A -; rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ; (And return) + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x32 ; address + rcall I2C_TX + movlw 0x9F ; 1F with auto-increment (MSB=1) + rcall I2C_TX + movlw b'00000000' ; TEMP_CFG_REG_A (Temp sensor off) 0x1F + rcall I2C_TX + movlw b'01010111' ; 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 + movlw b'00000000' ; CTRL_REG4_A (BDU=0, +/-2g) 0x23 + rcall I2C_TX + movlw b'00000000' ; CTRL_REG5_A 0x24 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) - global I2C_sleep_accelerometer +I2C_init_accelerometer3: + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x3A ; address + rcall I2C_TX + movlw 0x20 + rcall I2C_TX + movlw b'10011111' ; CTRL_REG1_A (10Hz, 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 + movlw b'11001100' ; CTRL_REG4_A 0x23 + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) + + + global I2C_sleep_accelerometer I2C_sleep_accelerometer: - btfsc compass_type2 ; Compass2 - bra I2C_sleep_accelerometer2 ; Yes - btfsc compass_type ; compass1? - return ; yes, ignore - - bsf SSP1CON2,SEN ; Start condition - rcall WaitMSSP - movlw 0x38 ; address - rcall I2C_TX - movlw 0x2A ; CTRL_REG1 - rcall I2C_TX - movlw b'00000000' ; St. By Mode - rcall I2C_TX - bsf SSP1CON2,PEN ; Stop condition - bra WaitMSSP ; (And return) - + btfsc compass_type3 ; Compass3 + bra I2C_sleep_accelerometer3 ; Yes + btfsc compass_type2 ; Compass2 + bra I2C_sleep_accelerometer2 ; Yes + btfsc compass_type ; compass1? + return ; yes, ignore + ; compass 0 + bsf SSP1CON2,SEN ; Start condition + rcall WaitMSSP + movlw 0x38 ; address + rcall I2C_TX + movlw 0x2A ; CTRL_REG1 + rcall I2C_TX + movlw b'00000000' ; St. By Mode + rcall I2C_TX + bsf SSP1CON2,PEN ; Stop condition + bra WaitMSSP ; (And return) + lt2942_init_again: clrf i2c_temp1 movlw 0x02 ; Point to accumulated charge registers