Mercurial > public > hwos_code
view src/i2c.asm @ 629:237931377539
3.07 stable release
| author | heinrichsweikamp |
|---|---|
| date | Fri, 29 Nov 2019 18:48:11 +0100 |
| parents | cd58f7fc86db |
| children | 185ba2f91f59 |
line wrap: on
line source
;============================================================================= ; ; File i2c.asm combined next generation V3.03.5 ; ; I2C Interface ; ; 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 ; ; 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 ; ; ; HISTORY ; 2012-08-22 : [mH] Creation ; 2018-02-18 : [mH] Sync with hwOS Sport release #include "hwos.inc" ; Mandatory header #include "wait.inc" #include "math.inc" #include "external_flash.inc" i2c CODE ;============================================================================= I2C_TX: 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 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_type1 ; compass1 ? bra I2C_RX_accelerometer_compass1 ; YES ;bra I2C_RX_accelerometer_compass0 ; NO - compass0 then 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 ; 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 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 I2C_RX_accelerometer2: MOVII mpr,accel_DX ; 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 ; 16 bit sign change negf lo btfsc STATUS,C ; carry to propagate? incf hi,F ; YES - do it I2C_RX_accelerometer3: MOVII mpr,accel_DY ; 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_TwoBytesRX_div16_2 ; divide lo:hi/16 (signed) only comf hi ; 16 bit sign change negf lo btfsc STATUS,C ; carry to propagate? incf hi,F ; YES - do it MOVII mpr,accel_DZ ; copy result 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: ; compass 2 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 ; 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 ; 16 bit 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 ; 16 bit 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 MOVII mpr,accel_DX ; 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 ; 16 bit sign change negf lo btfsc STATUS,C ; carry to propagate? incf hi,F ; YES - do it I2C_RX_accelerometer3_c1: MOVII mpr,accel_DY ; 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 ; 16 bit sign change for Z negf lo btfsc STATUS,C ; carry to propagate? incf hi,F ; YES - do it MOVII mpr,accel_DZ ; 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 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 ;----------------------------------------------------------------------------- IFDEF _compass global I2C_RX_compass I2C_RX_compass: btfsc compass_type3 ; compass 3 ? bra I2C_RX_compass3 ; YES btfsc compass_type2 ; compass 2 ? bra I2C_RX_compass2 ; YES btfsc compass_type1 ; compass 1 ? bra I2C_RX_compass1 ; YES ;bra I2C_RX_compass0 ; NO - compass 0 then 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 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 ; 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 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 ; NO banksel compass_DY ; YES - flip Y comf compass_DY+1 ; - 16 bit sign change negf compass_DY+0 btfsc STATUS,C ; - carry to propagate? incf compass_DY+1,F ; YES - do it banksel common I2C_RX_compass0_2: 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 banksel compass_DX ; YES - flip X comf compass_DX+1 ; - 16 bit 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: ; compass type 1 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 ; TODO 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 MOVII mpr,compass_DX btfss flip_screen ; 180° rotation? bra I2C_RX_compass1_1 ; NO banksel compass_DX ; YES - flip X comf compass_DX+1 ; - 16 bit 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 MOVII mpr,compass_DY btfss flip_screen ; 180° rotation? bra I2C_RX_compass1_2 ; NO banksel compass_DY ; YES - flip Y comf compass_DY+1 ; - 16 bit sign change negf compass_DY+0 btfsc STATUS,C ; - carry to propagate? incf compass_DY+1,F ; YES - do it banksel common I2C_RX_compass1_2: 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 MOVII mpr,compass_DZ bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return I2C_RX_compass2: ; compass type 2 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 joins in 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 ; - 16 bit sign change negf lo btfsc STATUS,C ; - carry to propagate? incf hi,F ; YES - do it I2C_RX_compass2_1: MOVII mpr,compass_DX 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 ; - 16 bit sign change negf lo btfsc STATUS,C ; - carry to propagate? incf hi,F ; YES - do it I2C_RX_compass2_2: MOVII mpr,compass_DY 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 MOVII mpr,compass_DZ bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ...and return I2C_RX_compass3: ; compass type 3 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 ; join with compass 2 code ENDIF ; _compass ;----------------------------------------------------------------------------- global I2C_init_compass I2C_init_compass: bsf compass_enabled bcf compass_type2 bcf compass_type3 ; probe for 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 ; YES - ACK was send, compass 3 present bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP btfsc compass_type3 ; compass 3 found? bra I2C_init_compass3 ; YES - initialize compass 3 ; probe for 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 ; YES - ACK send, compass 2 present bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP btfsc compass_type2 ; compass 2 found? bra I2C_init_compass2 ; YES - initialize compass 2 ; probe for compass 0 or 1 bsf compass_type1 ; 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 = compass 1 cpfseq SSP1BUF bcf compass_type1 ; clear flag bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP btfsc compass_type1 ; compass 1 found? bra I2C_init_compass1 ; YES - initialize compass 1 ;bra I2C_init_compass0 ; NO - must be compass 0 then I2C_init_compass0: ; magnetic bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x3C ; address rcall I2C_TX movlw 0x00 rcall I2C_TX movlw b'01101000' ; ConfigA: 3 Hz, 8 samples averaged rcall I2C_TX movff opt_compass_gain,i2c_temp1 ; 0-7 (230 LSB/Gauss to 1370 LSB/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 rcall WaitMSSP ; accelerometer rcall I2C_sleep_accelerometer0 ; registers can only be changed in standby mode 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, +/- 2 g 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: 160 ms data rate, standby mode movlw b'00110100' ; CTRL_REG1: 160 ms data rate, standby 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: 160 ms data rate, active mode movlw b'00110101' ; CTRL_REG1: 160 ms data rate, standby mode, reduced noise mode, active 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 (6.25 Hz, BDU=0, x,y,z = ON) rcall I2C_TX movlw b'11000000' ; CTRL2 (50 Hz, +/- 2g) rcall I2C_TX movlw b'00000000' ; CTRL3 rcall I2C_TX movlw b'00000000' ; CTRL4 rcall I2C_TX movlw b'01100100' ; CTRL5 HIGH res, 6.25 Hz rcall I2C_TX movff opt_compass_gain,i2c_temp1 ; 0-7 (230 LSB/Gauss to 1370 LSB/Gauss) movlw b'01100000' ; CTRL6 Full scale (+/-12 Gauss -> 2730 LSB/Gauss) dcfsnz i2c_temp1,F ; = 1? movlw b'01100000' ; YES - CTRL6 Full scale (+/-12 Gauss -> 2730 LSB/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), no I2C_init_accelerometer1 needed (inits with magnetic sensor) I2C_init_compass2: ; magnetic bsf SSP1CON2,SEN ; Start condition rcall WaitMSSP movlw 0x3C ; address rcall I2C_TX movlw 0xE0 ; 0x60 with auto-increment (MSB=1) rcall I2C_TX movlw b'10000000' ; CFG_REG_A_M (10Hz, Continuous) 0x60 0x00 rcall I2C_TX movlw b'00000011' ; CFG_REG_B_M (low-pass filter enabled) 0x61 (set pulse is released every 63 ODR) rcall I2C_TX movlw b'00010000' ; CFG_REG_C_M BDU=1 0x62 0x57 rcall I2C_TX bsf SSP1CON2,PEN ; Stop condition rcall WaitMSSP ; accelerometer 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'00100111' ; CTRL_REG1_A (10Hz, 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'00001000' ; CTRL_REG4_A (BDU=0, +/-2g, HR=1) rcall I2C_TX ; movlw b'00000000' ; CTRL_REG5_A ; rcall I2C_TX bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return I2C_init_compass3: ; magnetic 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 rcall WaitMSSP ;accelerometer bsf SSP1CON2,SEN ; Start condition rcall WaitMSSP movlw 0x3A ; address rcall I2C_TX movlw 0x20 rcall I2C_TX movlw b'10010111' ; CTRL_REG1_A (100Hz, x,y,z = ON, BDU=OFF) 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_compass I2C_sleep_compass: btfss compass_enabled ; compass active? return ; NO - return bcf compass_enabled btfsc compass_type3 ; compass 3 ? bra I2C_sleep_compass3 ; YES btfsc compass_type2 ; compass 2 ? bra I2C_sleep_compass2 ; YES btfsc compass_type1 ; compass 1 ? bra I2C_sleep_compass1 ; YES ;bra I2C_sleep_compass0 ; NO - must be compass 0 then I2C_sleep_compass0: ; magnetic 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 rcall WaitMSSP I2C_sleep_accelerometer0: ;(needed) ; accelerometer bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x38 ; address rcall I2C_TX movlw 0x2A ; CTRL_REG1 rcall I2C_TX movlw b'00000000' ; standby 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) - no I2C_sleep_accelerometer1 required (sleeps with magnetic sensor) I2C_sleep_compass2: ; magnetic bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x3C ; address rcall I2C_TX movlw 0xE0 ; 0x60 with auto-increment (MSB=1) rcall I2C_TX movlw b'00000011' ; CFG_REG_A_M 0x60 (idle mode)) rcall I2C_TX movlw b'00000100' ; CFG_REG_B_M 0x61 (set pulse is released only at power-on after PD condition) rcall I2C_TX movlw b'01010001' ; CFG_REG_C_M 0x62 rcall I2C_TX movlw b'00000000' ; INT_CTRL_REG_M 0x63 rcall I2C_TX bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP ; accelerometer 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 0x1F (temp sensor off) rcall I2C_TX movlw b'00000000' ; CTRL_REG1_A 0x20 (all off) rcall I2C_TX 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 rcall WaitMSSP ; 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 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_WaitforACK: btfss SSP1CON2,ACKSTAT ; ACK received from slave? return ; YES I2CFail: ; NO bsf active_reset_ostc_rx ; - reset RX circuitry (which may be the cause for the hang up) rcall I2CReset ; - reset I2C bcf PIR1,SSP1IF ; - clrf i2c_temp1 ; - bsf i2c_error_flag ; - set error flag bcf active_reset_ostc_rx ; - release reset from RX circuitry return ; - done 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 0x9C movwf SSP1ADD return lt2942_init_again: clrf i2c_temp1 movlw 0x02 ; point to accumulated charge registers rcall I2C_TX_GAUGE movff battery_accumulated_charge+1,SSP1BUF ; data byte rcall WaitMSSP rcall I2C_WaitforACK movff battery_accumulated_charge+0,SSP1BUF ; data byte rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP MOVII battery_accumulated_charge,sub_a ; and init again... global lt2942_init lt2942_init: ; setup control register B clrf i2c_temp1 movlw 0x01 ; point to control reg B rcall I2C_TX_GAUGE movlw b'11111000' ; automatic conversion every two seconds movff WREG, SSP1BUF ; data byte rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return global lt2942_get_status lt2942_get_status: ; read status register bcf battery_gauge_available ; clear flag clrf i2c_temp1 movlw 0x00 ; point to status register rcall I2C_TX_GAUGE rcall I2C_RX_GAUGE movff SSP1BUF,WREG btfss WREG,7 ; 2942 found? bsf battery_gauge_available ; YES - set flag bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return global lt2942_get_voltage lt2942_get_voltage: ; read battery voltage registers clrf i2c_temp1 movlw 0x08 ; point to voltage registers rcall I2C_TX_GAUGE rcall I2C_RX_GAUGE bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP movff SSP1BUF,xA+1 bsf SSP1CON2, RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,xA+0 bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP ; convert voltage from raw value to Volt MOVLI .6000,xB ; load conversion multiplicand into xB call mult16x16 ; xC = xA * xB -> multiply raw value in xA with conversion multiplicand ; divide by 65536 instead of 65535, introducing an error of 65536/65535 = 0.002 % movff xC+2,batt_voltage+0 ; divide by 65536 can easily be done by just taking the 3rd and 4th byte of the multiplication result movff xC+3,batt_voltage+1 ; ... tstfsz batt_voltage+1 ; < 256 mV ? return ; NO - done bra lt2942_init ; YES - ... and return global lt2942_get_temperature lt2942_get_temperature: ; read battery temperature clrf i2c_temp1 movlw 0x0C ; point to temperature register call I2C_TX_GAUGE call I2C_RX_GAUGE bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP movff SSP1BUF,xA+1 ; store raw temperature, high byte bsf SSP1CON2,RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,xA+0 ; store raw temperature, low byte bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP ; convert temperature from raw value to Kelvin MOVLI .6000,xB ; load conversion multiplicand into xB call mult16x16 ; xC = xA * xB -> multiply raw value in xA with conversion multiplicand ; divide by 65536 instead of 65535, introducing an error of 65536/65535 = 0.002 % movff xC+2,battery_temperature+0 ; divide by 65536 can easily be done by just taking the 3rd and 4th byte of the multiplication result movff xC+3,battery_temperature+1 ; ... ; check if battery is charged right now btfss cc_active ; in CC charging mode? return ; NO - not charging, done ; check for over-temperature while charging MOVLI max_battery_charge_temp,sub_a MOVII battery_temperature, sub_b call cmpU16 ; sub_a - sub_b (with UNSIGNED values) btfss neg_flag ; result negative? return ; NO - temperature <= threshold, ok, done ; YES - too hot, disable charging circuitry bsf charge_disable ; - set charging-inhibit signal bcf charge_enable ; - activate charging-inhibit signal bsf battery_overtemp ; - flag that the battery charging over-temperature protection has tripped return global lt2942_get_accumulated_charge lt2942_get_accumulated_charge: ; read accumulated charge and compute percent clrf i2c_temp1 movlw 0x00 ; point to status register rcall I2C_TX_GAUGE rcall I2C_RX_GAUGE bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP movff SSP1BUF,gauge_status_byte bsf SSP1CON2, RCEN ; enable receive mode rcall WaitMSSP ; dummy read (control byte) movf SSP1BUF,W bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP bsf SSP1CON2, RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,sub_a+1 bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP bsf SSP1CON2, RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,sub_a+0 bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP btfsc gauge_status_byte,0 ; UVLO event ? rcall lt2942_init_again ; YES MOVII sub_a,battery_accumulated_charge ; save raw value ; Compute batt_percent ; (charge-battery_offset)/365 MOVII battery_offset,sub_b call subU16 ; sub_c = sub_a - sub_b (with signed values) clrf batt_percent ; set to zero btfsc neg_flag ; result negative? bra lt2942_set_to_zero_percent ; YES - keep LT2942 at zero percent and return ; > zero, set batt_percent properly MOVII sub_c,xA MOVII battery_capacity,xB call div16x16 ; xC = xA / xB with xA as remainder movff xC+0,batt_percent movlw .100 ; max. value is 100 % cpfslt batt_percent ; batt_percent < 100 % ? movwf batt_percent ; NO - limit to 100 % return lt2942_set_to_zero_percent: clrf i2c_temp1 movlw 0x02 ; point to accumulated charge registers rcall I2C_TX_GAUGE movff battery_offset+1,SSP1BUF rcall WaitMSSP rcall I2C_WaitforACK movff battery_offset+0,SSP1BUF rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return global lt2942_charge_done lt2942_charge_done: ; reset accumulating registers to 0xFFFF clrf i2c_temp1 movlw 0x02 ; point to accumulated charge registers rcall I2C_TX_GAUGE setf SSP1BUF ; data byte rcall WaitMSSP rcall I2C_WaitforACK setf SSP1BUF ; data byte rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return I2C_TX_GAUGE: ; send a byte to the LT2942 gauge IC movwf i2c_temp2 ; data byte bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw b'11001000' ; address byte + Write bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK movf i2c_temp2,W bra I2C_TX ; ... and return I2C_RX_GAUGE: bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw b'11001001' ; address byte + Read bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,RCEN ; enable receive mode bra WaitMSSP ; ... and return ;============================================================================= ; Transmitter Functions ; IFDEF _rx_functions global I2C_probe_OSTC_rx I2C_probe_OSTC_rx: bcf ostc_rx_present ; no TR module by default clrf WREG ; bank-safe set to zero of ... movff WREG,rx_firmware_cur_major ; ... current TR module firmware, major movff WREG,rx_firmware_cur_minor ; ... current TR module firmware, minor movlw .5 ; max number of tries for detecting a TR module movwf hy ; initialize counter for tries I2C_probe_OSTC_rx_1: bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x50 ; address byte + write bit movwf SSP1BUF ; control byte rcall WaitMSSP btfss SSP1CON2,ACKSTAT ; ACK received? bsf ostc_rx_present ; YES - TR module detected bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP btfss ostc_rx_present ; was a TR module detected? return ; NO - done WAITMS .1 bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x50 ; address byte + write bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK movlw 0x1B movwf SSP1BUF ; data byte (get firmware) rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP WAITMS .1 bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x51 ; address byte + Read bit movwf SSP1BUF ; control byte rcall WaitMSSP bsf SSP1CON2,RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,rx_firmware_cur_major ; store as firmware version, major bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP ; last byte in read from RX circuity always with a NACK! bsf SSP1CON2,RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,rx_firmware_cur_minor ; store as firmware version, minor bsf SSP1CON2,ACKDT bsf SSP1CON2,ACKEN ; master NOT acknowledge rcall WaitMSSP bcf SSP1CON2,ACKDT ; reset ACKDT flag bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP ; wait for TR module becoming ready movff rx_firmware_cur_minor,i2c_temp1 ; copy firmware version to bank common, minor movlw .147 ; code for not ready, minor cpfseq i2c_temp1 ; equal? bra I2C_probe_OSTC_rx_2 ; NO - TR module ready movff rx_firmware_cur_major,i2c_temp1 ; YES - copy firmware version to bank common, major movlw .27 ; - code for not ready, major cpfseq i2c_temp1 ; - equal? bra I2C_probe_OSTC_rx_2 ; NO - TR module ready bsf active_reset_ostc_rx ; YES - apply reset to TR module WAITMS .5 ; - wait 5 ms bcf active_reset_ostc_rx ; - release reset WAITMS .250 ; - wait for 250 ms WAITMS .250 ; - wait another 250 ms clrf i2c_temp1 ; - clean-up i2c_temp1 decfsz hy,F ; - decrement counter for number of tries, became zero? bra I2C_probe_OSTC_rx_1 ; - NO - try again bcf ostc_rx_present ; - YES - something is wrong, flag TR module as not available I2C_probe_OSTC_rx_2: clrf i2c_temp1 ; clean-up i2c_temp1 return ; done global I2C_get_tankdata I2C_get_tankdata: bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x50 ; address byte + write bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK movlw 0x1E ; read buffer2 (48 bytes) movwf SSP1BUF ; data byte rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP WAITMS .1 ; read 48 bytes bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x51 ; address byte + read bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK movlw .47 ; 47 with ACK + 1 w/o ACK movwf i2c_temp2 lfsr FSR2,rx_buffer I2C_get_tankdata_loop_read: bsf SSP1CON2, RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,POSTINC2 bcf SSP1CON2,ACKDT bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP decfsz i2c_temp2,F bra I2C_get_tankdata_loop_read ; 1 w/o ACK bsf SSP1CON2, RCEN ; enable receive mode rcall WaitMSSP movff SSP1BUF,POSTINC2 bsf SSP1CON2,ACKDT bsf SSP1CON2,ACKEN ; master NOT acknowledge rcall WaitMSSP bcf SSP1CON2,ACKDT ; reset ACKDT flag bsf SSP1CON2,PEN ; stop condition bra WaitMSSP ; ... and return IFDEF _rx_update global I2C_update_OSTC_rx I2C_update_OSTC_rx: ; transfer 64 byte to RX co-processor ; setup for write bcf i2c_error_flag ; clear error flag lfsr FSR2,buffer ; initialize pointer to send buffer used for verify movlw .64 ; initialize loop counter: 64 byte with ACK movwf i2c_temp2 ; ... ; address write bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x50 ; address byte + write bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK ; write 64 bytes I2C_update_OSTC_loop: TBLRD*+ ; read a byte from program memory movff TABLAT,POSTINC2 ; copy to send buffer movff TABLAT,SSP1BUF ; copy to I2C data buffer rcall WaitMSSP rcall I2C_WaitforACK decfsz i2c_temp2,F ;decrement loop counter, became zero? bra I2C_update_OSTC_loop ; NO - loop bsf SSP1CON2,PEN ; YES - stop condition rcall WaitMSSP ; - wait for stop condition done WAITMS .1 ; - wait another 1 ms ; setup for read-back lfsr FSR2,buffer ; reset pointer to begin of send buffer movlw .63 ; initialize loop counter: 63 byte with ACK + 1 w/o ACK movwf i2c_temp2 ; address read-back bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x51 ; address byte + read bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK ; read-back 64 bytes I2C_update_OSTC_loop_read: bsf SSP1CON2,RCEN ; enable receive mode rcall WaitMSSP movf SSP1BUF,W cpfseq POSTINC2 ; compare read-back byte with sent byte, equal? bsf i2c_error_flag ; NO - not equal, set error flag bcf SSP1CON2,ACKDT bsf SSP1CON2,ACKEN ; master acknowledge rcall WaitMSSP decfsz i2c_temp2,F ; decrement loop counter, became zero? bra I2C_update_OSTC_loop_read ; NO - loop ; 1 w/o ACK bsf SSP1CON2, RCEN ; YES - enable receive mode rcall WaitMSSP ; - movf SSP1BUF,W ; - get 64th byte cpfseq POSTINC2 ; - compare read-back byte with sent byte, equal? bsf i2c_error_flag ; NO - not equal, set error flag bsf SSP1CON2,ACKDT ; - bsf SSP1CON2,ACKEN ; - master NOT acknowledge rcall WaitMSSP ; - bcf SSP1CON2,ACKDT ; - reset ACKDT flag ; stop bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP WAITMS .1 ; address commit bsf SSP1CON2,SEN ; start condition rcall WaitMSSP movlw 0x50 ; address byte + write bit movwf SSP1BUF ; control byte rcall WaitMSSP rcall I2C_WaitforACK movlw 0x1F ; write command movwf SSP1BUF ; data byte rcall WaitMSSP rcall I2C_WaitforACK bsf SSP1CON2,PEN ; stop condition rcall WaitMSSP WAITMS .5 ; required waiting time ; error check btfss i2c_error_flag ; did an error occur? retlw .0 ; NO - data transfered successfully retlw .255 ; YES - error in data transfer occurred ENDIF ; _rx_update ENDIF ; _rx_functions ;============================================================================= END