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diff src/i2c.asm @ 427:ceb1b7329dce

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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
line wrap: on
line diff
--- a/src/i2c.asm	Fri Jun 10 10:01:42 2016 +0200
+++ b/src/i2c.asm	Tue Jun 14 13:02:17 2016 +0200
@@ -10,6 +10,9 @@
 ;   MMA8452Q's read address (8-Bit):    0x39
 ;   MMA8452Q's write address (8-Bit):   0x38
 ;
+;   LSM303D's read address (8-Bit):    0x3D
+;   LSM303D's write address (8-Bit):   0x3C
+;
 ;   Copyright (c) 2012, JD Gascuel, HeinrichsWeikamp, all right reserved.
 ;=============================================================================
 ; HISTORY
@@ -100,12 +103,13 @@
     btfsc       hi,7        ; Copy sign bit to carry
     bsf         STATUS,C
     rrcf		hi          ; /2
-	rrcf		lo
+    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
+    rrcf		lo
     bcf			STATUS,C
     btfsc       hi,7        ; Copy sign bit to carry
     bsf         STATUS,C
@@ -120,15 +124,18 @@
 
     global  I2C_RX_accelerometer
 I2C_RX_accelerometer:
-   	bsf			SSP1CON2,SEN		; Start condition
-	rcall		WaitMSSP
-	movlw		0x38                ; address
+    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
+    movlw		0x00
     rcall       I2C_TX
-	bsf			SSP1CON2,RSEN		; Repeated start condition (!)
-	rcall		WaitMSSP
-	movlw		0x39                ; address
+    bsf			SSP1CON2,RSEN		; Repeated start condition (!)
+    rcall		WaitMSSP
+    movlw		0x39                ; address
     rcall       I2C_TX
 
     rcall       I2C_OneByteRX       ; Get Status Byte
@@ -189,28 +196,105 @@
 	rcall		WaitMSSP
     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
+    rcall       I2C_TX
+    
+    ; 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
+    
+    ; 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
+    btfsc       flip_screen             ; 180° rotation ?
+    bra         I2C_RX_accelerometer2_c1   ; Yes
+    comf        hi                    ; 16bit sign change.
+    negf        lo
+    btfsc       STATUS,C            ; Carry to propagate ?
+    incf        hi,F                ; YES: do it.
+I2C_RX_accelerometer2_c1:
+    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
+
+    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_OneByteRX:
-	bsf			SSP1CON2, RCEN      ; Enable recieve mode
-	rcall		WaitMSSP
-	bsf			SSP1CON2,ACKEN		; Master acknowlegde
-	rcall		WaitMSSP
-    return
+    bsf		SSP1CON2, RCEN      ; Enable recieve mode
+    rcall	WaitMSSP
+    bsf		SSP1CON2,ACKEN	    ; Master acknowlegde
+    bra		WaitMSSP	    ; And return!
 
     global  I2C_RX_compass
 I2C_RX_compass:
-	bsf			SSP1CON2,SEN		; Start condition
-	rcall		WaitMSSP
-	movlw		0x3C                ; address
-    rcall       I2C_TX
-	movlw		0x03
+    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
-	bsf			SSP1CON2,PEN		; Stop condition
-	rcall		WaitMSSP
+    movlw	0x03
+    rcall       I2C_TX
+    bsf		SSP1CON2,PEN		; Stop condition
+    rcall	WaitMSSP
 
-	bcf			PIR1,SSPIF
-	bsf			SSP1CON2,SEN		; Start condition
-	rcall		WaitMSSP
-	movlw		0x3D                ; address
+    bcf		PIR1,SSPIF
+    bsf		SSP1CON2,SEN		; Start condition
+    rcall	WaitMSSP
+    movlw	0x3D                ; address
     rcall       I2C_TX
 
     ; Compass IC sends data in following order:
@@ -249,16 +333,16 @@
 I2C_RX_compass2:
     banksel common
     rcall       I2C_OneByteRX       ; Get one byte
-	movff		SSP1BUF,compass_DZ+1; Data Byte
+    movff	SSP1BUF,compass_DZ+1; Data Byte
     rcall       I2C_OneByteRX       ; Get one byte
-	movff		SSP1BUF,compass_DZ+0; Data 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
+    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
@@ -269,33 +353,119 @@
     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	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.
+I2C_RX_compass1_2:
+    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
+    rcall	WaitMSSP
+    return
 
     global  I2C_init_compass
 I2C_init_compass:
-	bsf			SSP1CON2,SEN		; Start condition
-	rcall		WaitMSSP
-	movlw		0x3C                ; address
+    bsf     compass_enabled
+    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,SSPIF
+    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
+; init compass0
+    bsf		SSP1CON2,SEN		; Start condition
+    rcall	WaitMSSP
+    movlw	0x3C                ; address
     rcall       I2C_TX
-	movlw		0x00
+    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
+;	movlw	b'01101001'        ; ConfigA:  3Hz, 8 Samples averaged, Test Mode (Positive Bias)
+    movlw	b'01101000'        ; ConfigA:  3Hz, 8 Samples averaged
     rcall       I2C_TX
     bra         I2C_init_compass_common
 
     global  I2C_init_compass_fast
 I2C_init_compass_fast:
-	bsf			SSP1CON2,SEN		; Start condition
-	rcall		WaitMSSP
-	movlw		0x3C                ; address
+    btfsc   compass_type	    ; compass1?
+    bra	    I2C_init_compass_fast1  ; yes
+;I2C_init_compass_fast0:
+    bsf		SSP1CON2,SEN		; Start condition
+    rcall	WaitMSSP
+    movlw	0x3C                ; address
     rcall       I2C_TX
-	movlw		0x00
+    movlw	0x00
     rcall       I2C_TX
-    movlw		b'00111000'        ; ConfigA: 75Hz, 2 Samples averaged
-;    movlw		b'00111001'        ; ConfigA: 75Hz, 2 Samples averaged, Test Mode (Positive Bias)
+    movlw	b'00111000'        ; ConfigA: 75Hz, 2 Samples averaged
+;    movlw	b'00111001'        ; ConfigA: 75Hz, 2 Samples averaged, Test Mode (Positive Bias)
     rcall       I2C_TX
 I2C_init_compass_common:
-    movff       opt_compass_gain,i2c_temp    ; 0-7 (230LSB/Gauss to 1370LSB/Gaus)
+    movff       opt_compass_gain,i2c_temp    ; 0-7 (230LSB/Gauss to 1370LSB/Gauss)
     swapf       i2c_temp,F
     comf        i2c_temp,F
     bcf         STATUS,C
@@ -303,35 +473,119 @@
     movf        i2c_temp,W
     clrf        i2c_temp
     rcall       I2C_TX
-	movlw		b'00000000'        ; Continous Mode
+    movlw	b'00000000'        ; Continous Mode
     rcall       I2C_TX
-	bsf			SSP1CON2,PEN		; Stop condition
-	rcall		WaitMSSP
-    bsf         compass_enabled
+    bsf	SSP1CON2,PEN		; Stop condition
+    rcall	WaitMSSP
     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
+    ;movlw	b'01100000'	; CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss)
+    movlw	b'00000000'	; CTRL6 (+/-2 Gauss)
+    rcall       I2C_TX
+    movlw	b'00000000'	; CTRL7 Continuous Mode
+    rcall       I2C_TX
+    bsf		SSP1CON2,PEN		; Stop condition
+    rcall	WaitMSSP
+    return
+    
+I2C_init_compass_fast1:
+    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'01101111'	; CTRL1 (100Hz, 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'01110100'	; CTRL5 HIGH res, 100Hz
+    rcall       I2C_TX
+    movlw	b'01100000'	; CTRL6 Full scale (+/-12 Gauss -> 2730LSB/Gauss)
+    rcall       I2C_TX
+    movlw	b'00000000'	; CTRL7 Continuous Mode
+    rcall       I2C_TX
+    bsf		SSP1CON2,PEN		; Stop condition
+    rcall	WaitMSSP
+    return
+    
     global  I2C_sleep_compass
 I2C_sleep_compass:
-	bsf			SSP1CON2,SEN		; Start condition
-	rcall		WaitMSSP
-	movlw		0x3C                ; address
-    rcall       I2C_TX
-	movlw		0x00
-    rcall       I2C_TX
-	movlw		b'01101000'        ; ConfigA
+    bcf         compass_enabled
+    
+    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		b'00100000'        ; ConfigB
+    movlw	0x00
     rcall       I2C_TX
-	movlw		b'00000010'        ; Idle Mode
+    movlw	b'01101000'        ; ConfigA
     rcall       I2C_TX
-	bsf			SSP1CON2,PEN		; Stop condition
-	rcall		WaitMSSP
-    bcf         compass_enabled
+    movlw	b'00100000'        ; ConfigB
+    rcall       I2C_TX
+    movlw	b'00000010'        ; Idle Mode
+    rcall       I2C_TX
+    bsf		SSP1CON2,PEN		; Stop condition
+    rcall	WaitMSSP
     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
+    rcall	WaitMSSP
+    return
+    
 
    global  I2C_init_accelerometer
 I2C_init_accelerometer:
+    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
@@ -376,6 +630,9 @@
 
     global  I2C_sleep_accelerometer
 I2C_sleep_accelerometer:
+    btfsc   compass_type	    ; compass1?
+    return			    ; yes, ignore
+
 	bsf			SSP1CON2,SEN		; Start condition
 	rcall		WaitMSSP
 	movlw		0x38                ; address
@@ -582,7 +839,6 @@
 	bsf		SSP1CON2, RCEN		; Enable recieve mode
 	rcall	WaitMSSP
 	return
-
-
-
-    END
\ No newline at end of file
+    
+    
+ END
\ No newline at end of file