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view src/compass_ops.asm @ 349:9488d565150c
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| author | heinrichsweikamp |
|---|---|
| date | Thu, 23 Jul 2015 10:09:21 +0200 |
| parents | 508d7fb98b34 |
| children | 67e631aa5b8c |
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#include "hwos.inc" #include "i2c.inc" #include "tft_outputs.inc" #include "isr.inc" #include "tft.inc" #include "strings.inc" #include "wait.inc" ; speed_* #include "surfmode.inc" #include "divemode.inc" #include "math.inc" #include "convert.inc" ; Make sure symbols from the .inc are available to the C code: ; Filtered data global compass_DX_f, compass_DY_f, compass_DZ_f global accel_DX_f, accel_DY_f, accel_DZ_f ; Calibration data global compass_CX_f global compass_CY_f global compass_CZ_f ; Tmp values to pass Q15 arithmetics around global compass_a global compass_b ; Result global compass_heading; , compass_roll, compass_pitch extern compass extern compass_reset_calibration extern compass_add_calibration extern compass_solve_calibration extern menu_processor_bottom_line compass_ops code ;----------------------------------------------------------------------------- ; Filter compass values ; ; Apply linear filtering to input parameters. ; Apply filtering formula: ; reg_f += (reg - reg_f) / 4 FILTER16 MACRO reg, reg_f movf reg_f+0,W subwf reg+0,W movwf PRODL movf reg_f+1,W subwfb reg+1,W rcall filter_16_common addwf reg_f+0,F movf PRODH,W addwfc reg_f+1,F ENDM filter_16_common: movwf PRODH bcf STATUS,C ; Copy sign bit into carry btfsc PRODH,7 bsf STATUS,C rrcf PRODH,F ; 16bit shift right rrcf PRODL,F bcf STATUS,C ; Copy sign bit into carry btfsc PRODH,7 bsf STATUS,C rrcf PRODH,F ; 16bit shift right rrcf PRODL,W return global compass_filter compass_filter: banksel compass_DX FILTER16 compass_DX, compass_DX_f FILTER16 compass_DY, compass_DY_f FILTER16 compass_DZ, compass_DZ_f FILTER16 accel_DX, accel_DX_f FILTER16 accel_DY, accel_DY_f FILTER16 accel_DZ, accel_DZ_f banksel common return ;----------------------------------------------------------------------------- compass_filter_init: movff compass_DX+0, compass_DX_f+0 movff compass_DX+1, compass_DX_f+1 movff compass_DY+0, compass_DY_f+0 movff compass_DY+1, compass_DY_f+1 movff compass_DZ+0, compass_DZ_f+0 movff compass_DZ+1, compass_DZ_f+1 movff accel_DX+0, accel_DX_f+0 movff accel_DX+1, accel_DX_f+1 movff accel_DY+0, accel_DY_f+0 movff accel_DY+1, accel_DY_f+1 movff accel_DZ+0, accel_DZ_f+0 movff accel_DZ+1, accel_DZ_f+1 return ;----------------------------------------------------------------------------- ; Q15 fractional numbers: a * b / 2**16 (UNSIGNED) ; ; Uses 16x16->16 multiply, for positiv integers, keeping only the most ; revelant bits. ; ; Used to multiply two Q15 numbers, in the range 0..1, ; represented as 0..32767, that is a / 2**15. ; ; (a/2**15) * (b/2**15) = a*b / 2**30 = (a*b/2**16) / 2**14. ; So to get back a Q15 number, we need a shift-left... global compass_umul compass_umul: rcall compass_mul_16 ; The 2x time, by left-shifting inserting the missing bit: compass_mul_2: rlcf compass_r+2,F ; Missing bit into carry rlcf compass_r+0,F rlcf compass_r+1,F movff compass_r+0,PRODL ; return value into ProdH:L movff compass_r+1,PRODH return ; The 16x16-> multiply: compass_mul_16: banksel compass_a movf compass_a+1,W ; Block ah*bh mulwf compass_b+1 movff PRODL,compass_r+0 ; and copy movff PRODH,compass_r+1 movf compass_a+0,W ; Block al*bl mulwf compass_b+0 movff PRODH,compass_r+2 ; Into fraction byte movf compass_a+1,W ; Block ah*bl mulwf compass_b+0 movf PRODL,W addwf compass_r+2,F ; Fraction part to carry. movf PRODH,W ; and add16 addwfc compass_r+0,F movlw 0 addwfc compass_r+1,F movf compass_a+0,W ; Block al*bh mulwf compass_b+1 movf PRODL,W addwf compass_r+2,F ; Fraction part to carry. movf PRODH,W ; and add16 addwfc compass_r+0,F movlw 0 addwfc compass_r+1,F return ;----------------------------------------------------------------------------- ; Q15 fractional numbers: a * b / 2**16 (SIGNED) global compass_imul compass_imul: rcall compass_mul_16 btfss compass_b+1,7 bra compass_mul_3 movf compass_a+0,W subwf compass_r+0,F movf compass_a+1,W subwfb compass_r+1,F compass_mul_3: btfss compass_a+1,7 bra compass_mul_4 movf compass_b+0,W subwf compass_r+0,F movf compass_b+1,W subwfb compass_r+1,F compass_mul_4: bcf compass_r+1,6 ; Copy bit 7 to 6, so keep it after 2x btfsc compass_r+1,7 bsf compass_r+1,6 bra compass_mul_2 global compass_calibration_loop compass_calibration_loop: ; Compass calibration bsf no_sensor_int ; No Sensor ISR call I2C_sleep_accelerometer ; Stop accelerometer call I2C_sleep_compass ; Stop compass call TFT_ClearScreen ; Mask WIN_COLOR color_greenish WIN_SMALL .16,.0 STRCPY_TEXT_PRINT tCompassMenu call menu_processor_bottom_line btfss switch_right2 ; wait until right button is released bra $-4 call TFT_standard_color ; WIN_SMALL .0,.215 ; STRCPY_TEXT_PRINT tExit WAITMS d'255' WAITMS d'255' movlw .7 ; Gain init movff WREG,opt_compass_gain compass_calibration_gainset: ; Reduce the gain, set bank here! banksel opt_compass_gain decf opt_compass_gain,F ; Reduce by one btfsc STATUS,N ; <0? clrf opt_compass_gain ; Yes, keep at zero banksel common call I2C_init_accelerometer call I2C_init_compass_fast rcall TFT_compass_show_gain ; Show the current compass gain WAITMS d'100' clrf timeout_counter2 clrf timeout_counter3 call speed_fastest call I2C_RX_compass ; read compass call I2C_RX_accelerometer ; read Accelerometer ; Test all axes for +4096 (Hi byte=16) banksel compass_DX+1 movlw .16 cpfseq compass_DX+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DY+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DZ+1 bra $+4 bra compass_calibration_gainset ; Test all axes for -4096 (Hi byte=240) movlw .240 cpfseq compass_DX+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DY+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DZ+1 bra $+4 bra compass_calibration_gainset banksel common rcall compass_filter_init ; set DX_f values call compass_reset_calibration ; Reset CX_f values banksel common compass_calibration_loop2: call I2C_RX_compass ; read compass call I2C_RX_accelerometer ; Test Accelerometer rcall compass_filter ; Filter compass raw data banksel common ; Twice call I2C_RX_compass ; read compass call I2C_RX_accelerometer ; Test Accelerometer rcall compass_filter ; Filter compass raw data banksel common ; Test all axes for +4096 (Hi byte=16) banksel compass_DX+1 movlw .16 cpfseq compass_DX+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DY+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DZ+1 bra $+4 bra compass_calibration_gainset ; Test all axes for -4096 (Hi byte=240) movlw .240 cpfseq compass_DX+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DY+1 bra $+4 bra compass_calibration_gainset cpfseq compass_DZ+1 bra $+4 bra compass_calibration_gainset banksel common ; ; ; Three ; call I2C_RX_compass ; read compass ; call I2C_RX_accelerometer ; Test Accelerometer ; call compass_filter ; Filter compass raw data ; banksel common ; ; ; Four times to get cleaner values ; call I2C_RX_compass ; read compass ; call I2C_RX_accelerometer ; Test Accelerometer ; call compass_filter ; Filter compass raw data ; And register only one value out of four: call compass_add_calibration ; check and store new max/min values banksel common call TFT_compass_fast ; show values btfsc sleepmode ; Sleepmode active? bra compass_calibration_exit ; Yes, exit ; btfsc switch_left ; Button pressed? ; bra compass_calibration_exit ; Yes, exit btfss onesecupdate ; do every second tasks? bra compass_calibration_loop2 ; no, loop here movlw .60 call timeout_testmode ; check timeout movlw .60 rcall TFT_show_timeout_testmode ; Show the timeout bcf onesecupdate ; clear flag bra compass_calibration_loop2 ; loop here compass_calibration_exit: call compass_solve_calibration banksel common extern option_save_all call option_save_all ; save all settings into EEPROM bcf sleepmode ; Clear the flag before exiting to surfacemode movlw .6 movwf customview_surfmode ; Set to compass view... goto surfloop ; ...and exit global TFT_compass_fast TFT_compass_fast: WIN_TINY .20,.50 STRCPY "X:" movff compass_DX+0,lo movff compass_DX+1,hi call TFT_convert_signed_16bit ; converts lo:hi into signed-short and adds '-' to POSTINC2 if required output_16 STRCAT " Y:" movff compass_DY+0,lo movff compass_DY+1,hi call TFT_convert_signed_16bit ; converts lo:hi into signed-short and adds '-' to POSTINC2 if required output_16 STRCAT " Z:" movff compass_DZ+0,lo movff compass_DZ+1,hi call TFT_convert_signed_16bit ; converts lo:hi into signed-short and adds '-' to POSTINC2 if required output_16 STRCAT_PRINT " " return TFT_show_timeout_testmode: ; With timeout in WREG... movwf hi WIN_TINY .20,.68 STRCPY "T:" movf timeout_counter2,W ; current timeout subwf hi,W ; subtract from timeout value addlw .1 ; +1 movwf lo bsf leftbind output_8 ; Display timeout bcf leftbind STRCAT_PRINT "s " return TFT_compass_show_gain: ; Show the current compass gain movff opt_compass_gain,lo ; 0-7 (230LSB/Gauss to 1370LSB/Gaus) tstfsz lo return ; Do not show unless gain=0 WIN_TINY .20,.86 STRCPY_TEXT tCompassGain movff opt_compass_gain,lo ; 0-7 (230LSB/Gauss to 1370LSB/Gaus) bsf leftbind output_8 bcf leftbind STRCAT_PRINT "!" return global TFT_surface_compass_mask TFT_surface_compass_mask: WIN_SMALL surf_compass_mask_column,surf_compass_mask_row call TFT_standard_color STRCPY_TEXT_PRINT tHeading ; Heading: return global TFT_dive_compass_mask TFT_dive_compass_mask: WIN_FRAME_STD dm_custom_compass_graph_row, dm_custom_compass_graph_row+dm_custom_compass_graph_height, .0, .159 return global TFT_surface_compass_heading TFT_surface_compass_heading: rcall compass_heading_common WIN_STD surf_compass_head_column,surf_compass_head_row call TFT_standard_color TFT_surface_compass_heading_com: ; Show "000° N" movff compass_heading+0,lo movff compass_heading+1,hi call TFT_convert_signed_16bit ; converts lo:hi into signed-short and adds '-' to POSTINC2 if required ; Shown and actual identical? movff compass_heading_shown+0,WREG cpfseq lo bra TFT_surface_compass_heading_com1 ; Not equal movff compass_heading_shown+1,WREG cpfseq hi bra TFT_surface_compass_heading_com1 ; Not equal bra TFT_surface_compass_heading_com3 ; equal, skip smoothing TFT_surface_compass_heading_com1: movff lo,sub_a+0 movff hi,sub_a+1 movff compass_heading_shown+0,sub_b+0 movff compass_heading_shown+1,sub_b+1 call subU16 btfsc neg_flag bra TFT_surface_compass_heading_com2 ; shown > actual ; shown < actual banksel compass_heading_shown infsnz compass_heading_shown+0,F incf compass_heading_shown+1,F ; +1 bra TFT_surface_compass_heading_com3 TFT_surface_compass_heading_com2: banksel compass_heading_shown movlw d'1' subwf compass_heading_shown+0,F movlw d'0' subwfb compass_heading_shown+1,F ; -1 TFT_surface_compass_heading_com3: banksel common movff compass_heading_shown+0,lo movff compass_heading_shown+1,hi bsf leftbind output_16dp .2 ; Result is "0.000" bcf leftbind ; rearrange figures to "000" movff buffer+2,buffer+0 movff buffer+3,buffer+1 movff buffer+4,buffer+2 lfsr FSR2,buffer+3 STRCAT "° " rcall tft_compass_cardinal ; Add cardinal and ordinal to POSTINC2 clrf WREG movff WREG,buffer+.7 ; limit to 7 chars STRCAT_PRINT "" return global TFT_dive_compass_heading TFT_dive_compass_heading: rcall compass_heading_common ; ; ToDo - these are for development only, hardcoding the bearing position ; ; 244° : SW - W ; movlw low(d'244') ; movff WREG,compass_bearing+0 ; movlw high(d'244') ; movff WREG,compass_bearing+1 movff compass_heading_shown+0,xA+0 movff compass_heading_shown+1,xA+1 ; xRD and xRDlft ; 1. 160° viewing angle: +360 offset if xA<=292; for non-negative scale movlw high(d'292') movff WREG,sub_a+1 movlw low(d'292') movff WREG,sub_a+0 movff xA+1,sub_b+1 movff xA+0,sub_b+0 call subU16 ; sub_c = sub_a - sub_b btfsc neg_flag ; xA>292 bra TFT_dive_compass_heading_1 ;yes ; no, xA<=292 movlw high(d'360') addwf xA+1,1 movlw low(d'360') addwf xA+0,1 btfsc STATUS,C incf xA+1 TFT_dive_compass_heading_1: ; 2. -80: left pixel offset from the center movlw low( d'80' ) subwf xA+0,1 btfss STATUS,C decf xA+1 ; 3. save it to xRD movff xA+0,xRD+0 movff xA+1,xRD+1 ; 4. add 160 (display px width) movlw high(d'160') addwf xA+1,1 movlw low(d'160') addwf xA+0,1 btfsc STATUS,C incf xA+1 ; 5. save it to xRDr movff xA+0,xRDr+0 movff xA+1,xRDr+1 ; ; Bearing ? ; ; We can skip this xRD180 calculation if no bearing is set ; bcf compass_bearing_set ; movff compass_bearing+0,sub_a+0 ; movff compass_bearing+1,sub_a+1 ; movlw d'0' ; cpfseq sub_a+1 ; bra TFT_dive_compass_bearing ; something set, calculate xRD180 ; movlw d'0' ; cpfseq sub_a+0 ; bra TFT_dive_compass_bearing ; something set, calculate xRD180 ; bra TFT_dive_compass_ruler ; no value in the bearing, skip calc ; ;TFT_dive_compass_bearing: ; bsf compass_bearing_set btfss compass_bearing_set bra TFT_dive_compass_ruler ; no value in the bearing, skip calc ; we have bearing set, we will need xRD180 calculated ; xRD180 is xRDr-180 movff xRDr+1,sub_a+1 movff xRDr+0,sub_a+0 movlw high(d'180') movff WREG,sub_b+1 movlw low(d'180') movff WREG,sub_b+0 call subU16 ; sub_c = sub_a - sub_b movff sub_c+1,xRD180+1 movff sub_c+0,xRD180+0 TFT_dive_compass_bearing_1: ; calculate bearing position and visibility (ahead or behind) bcf compass_bearing_vis ; default is not-visibly bcf compass_bearing_ahd ; default is behind ; get the bearing virtual display offset, store it to divA movff compass_bearing+0,xA+0 movff compass_bearing+1,xA+1 movlw high(d'360') addwf xA+1,1 movlw low(d'360') addwf xA+0,1 btfsc STATUS,C incf xA+1 ; save it to reuse for upper/lower turns and ahead/behind checks movff xA+1,divA+1 movff xA+0,divA+0 ; check if it's ahead ; load the bearing offset into sub_a movff divA+1,sub_a+1 movff divA+0,sub_a+0 ; load the display offset back to sub_b movff xRD+0,sub_b+0 movff xRD+1,sub_b+1 rcall TFT_dive_compass_bearing_ap ;test if we found it btfsc compass_bearing_vis bra TFT_dive_compass_bearing_dir ; check if it's ahead with an upper turn ; load the bearing offset into sub_a movff divA+1,sub_a+1 movff divA+0,sub_a+0 ; load the display offset back to sub_b movff xRD+0,sub_b+0 movff xRD+1,sub_b+1 movlw high(d'360') addwf sub_b+1,1 movlw low(d'360') addwf sub_b+0,1 btfsc STATUS,C incf sub_b+1 rcall TFT_dive_compass_bearing_ap ;test if we found it btfsc compass_bearing_vis bra TFT_dive_compass_bearing_dir ; check if it's ahead with a lower turn ; load the bearing offset into sub_a movff divA+1,sub_a+1 movff divA+0,sub_a+0 movlw high(d'360') addwf sub_a+1,1 movlw low(d'360') addwf sub_a+0,1 btfsc STATUS,C incf sub_a+1 ; load the display offset back to sub_b movff xRD+0,sub_b+0 movff xRD+1,sub_b+1 rcall TFT_dive_compass_bearing_ap ;test if we found it btfsc compass_bearing_vis bra TFT_dive_compass_bearing_dir ; marker is not ahead of us, check if it's behind us ; use the (160 - (xRD180 - xCM)) formula to see if it's on the display ; load the display offset back to sub_a movff xRD180+0,sub_a+0 movff xRD180+1,sub_a+1 ; load the marker's offset into sub_b movff divA+0,sub_b+0 movff divA+1,sub_b+1 rcall TFT_dive_compass_bearing_bp ;test if we found it btfsc compass_bearing_vis bra TFT_dive_compass_bearing_dir ;check if it's behind with the lower turn movff xRD180+0,sub_a+0 movff xRD180+1,sub_a+1 movlw high(d'360') addwf sub_a+1,1 movlw low(d'360') addwf sub_a+0,1 btfsc STATUS,C incf sub_a+1 ; load the marker's offset into sub_b movff divA+0,sub_b+0 movff divA+1,sub_b+1 rcall TFT_dive_compass_bearing_bp ;test if we found it btfsc compass_bearing_vis bra TFT_dive_compass_bearing_dir ; check if it's behind with the upper turn movff divA+1,sub_b+1 movff divA+0,sub_b+0 movlw high(d'360') addwf sub_b+1,1 movlw low(d'360') addwf sub_b+0,1 btfsc STATUS,C incf sub_b+1 rcall TFT_dive_compass_bearing_bp bra TFT_dive_compass_bearing_dir TFT_dive_compass_bearing_ap: ; xCM received in sub_a ; xRD received in sub_b ; 1/a. check if it's viewable from the left side call subU16 ; sub_c = sub_a - sub_b btfsc neg_flag ; xRD>divA return ;no, ; yes, store the RO=RP-RD for drawing movff sub_c+0,xC+0 movff sub_c+1,xC+1 ; 1/b. check if it's viewable from the right side? movlw d'2' ; avoid thin mess on the side of the display addwf sub_a+0,1 btfsc STATUS, C incf sub_a+1 ; load the display offset right side into sub_b movlw high(d'160') addwf sub_b+1,1 movlw low(d'160') addwf sub_b+0,1 btfsc STATUS,C incf sub_b+1 call subU16 ; sub_c = sub_a - sub_b btfss neg_flag ; xRDr>xA(+2) return ; no, ; print the bearing lines on the screen movff xC+0,xCM bsf compass_bearing_vis ; set visible bsf compass_bearing_ahd ; set ahead return ; done, TFT_dive_compass_bearing_bp: ; use the (160 - (xRD180 - xCM)) formula to see if it's on the display ; the marker's offset received in sub_b ; the xRD180 display offset received in sub_a ; xRD180 - xCM call subU16 ; sub_c = sub_a - sub_b btfsc neg_flag ; CM>xRD180 return ; no, not on screen ; 160 - (X) movlw high(d'160') movff WREG,sub_a+1 movlw low(d'160') movff WREG,sub_a+0 movff sub_c+1,sub_b+1 movff sub_c+0,sub_b+0 call subU16 ; sub_c = sub_a - sub_b btfsc neg_flag ; X>160 return ; no, not on screen ; check if not overflow - this sounds a double check... movlw d'1' cpfslt sub_c+1 return ; high set, >160 movlw d'160' cpfslt sub_c+0 return ; low >160 ; print the bearing lines on the screen movff sub_c+0,xCM bsf compass_bearing_vis return ; done TFT_dive_compass_bearing_dir: ; check if bearing to heading, and calculate the direction bcf compass_bearing_eq btfss compass_bearing_vis bra TFT_dive_compass_bearing_lr btfss compass_bearing_ahd bra TFT_dive_compass_bearing_lr movff xCM,xA+0 movlw d'80' cpfseq xA+0 bra TFT_dive_compass_bearing_lr bsf compass_bearing_eq bra TFT_dive_compass_ruler ; bearing points to heading, no signs are required, go to the ruler TFT_dive_compass_bearing_lr: ; get the bearing virtual display offset movff compass_bearing+0,xA+0 movff compass_bearing+1,xA+1 ; divA =IF (U10>292;U10;U10+360) movlw high(d'292') movff WREG,sub_a+1 movlw low(d'292') movff WREG,sub_a+0 movff xA+1,sub_b+1 movff xA+0,sub_b+0 call subU16 ; sub_c = sub_a - sub_b btfsc neg_flag ; xA>292 bra TFT_dive_compass_bearing_lr_1 ;yes ; no, xA<=292 movlw high(d'360') addwf xA+1,1 movlw low(d'360') addwf xA+0,1 btfsc STATUS,C incf xA+1 TFT_dive_compass_bearing_lr_1: ; 1. calculate whether bearing is to left or to right bsf compass_bearing_lft ; to the left by default ; xC: save center value to compare the direction to front value movff xA+1,xC+1 movff xA+0,xC+0 ; xB: we need the left side for comparism... left = -180 movff xA+1,sub_a+1 movff xA+0,sub_a+0 movlw high(d'180') movff WREG,sub_b+1 movlw low(d'180') movff WREG,sub_b+0 call subU16 ; sub_c = sub_a - sub_b movff sub_c+1,xB+1 ; xB has the left side of the 180° distance center movff sub_c+0,xB+0 ; xA = IF(xRD>(xC+100);xRD-280;xRD+80) movff xC+1,sub_a+1 movff xC+0,sub_a+0 movlw d'100' addwf sub_a+0,1 btfsc STATUS,C incf sub_a+1 movff xRD+1,sub_b+1 movff xRD+0,sub_b+0 call subU16 ; sub_c = sub_a - sub_b btfsc neg_flag ; xRD>xC+100 bra TFT_dive_compass_bearing_lr_2 ; yes, xA=xRD-280 ; no, xA = xRD+80 movff xRD+1,xA+1 movff xRD+0,xA+0 movlw d'80' addwf xA+0,1 btfsc STATUS,C incf xA+1 bra TFT_dive_compass_bearing_lr_c TFT_dive_compass_bearing_lr_2: ; xA=xRD-280 movff xRD+1,sub_a+1 movff xRD+0,sub_a+0 movlw high(d'280') movff WREG,sub_b+1 movlw low(d'280') movff WREG,sub_b+0 call subU16 ; sub_c = sub_a - sub_b movff sub_c+1,xA+1 movff sub_c+0,xA+0 ;bra TFT_dive_compass_bearing_lr_c TFT_dive_compass_bearing_lr_c: ; xB < xA < xC => right, otherwise left (default) movff xA+1,sub_b+1 movff xA+0,sub_b+0 movff xB+1,sub_a+1 movff xB+0,sub_a+0 call subU16 ; sub_c = sub_a - sub_b btfss neg_flag ; xA>xB ? bra TFT_dive_compass_ruler ; No, xB >= xA, keep default left movff xA+1,sub_a+1 movff xA+0,sub_a+0 movff xC+1,sub_b+1 movff xC+0,sub_b+0 call subU16 ; sub_c = sub_a - sub_b btfss neg_flag ; xC>xA ? bra TFT_dive_compass_ruler ; No, xA >= xC, keep default left bcf compass_bearing_lft TFT_dive_compass_ruler: ; calculate mod15 for the ticks movff xRD+0,xA+0 movff xRD+1,xA+1 movlw d'15' movwf xB+0 clrf xB+1 call div16x16 ;xA/xB=xC with xA+0 as remainder ; check xA+0, it has the remainder movlw d'0' cpfsgt xA+0 ; mod15 > 0 bra TFT_dive_compass_ruler_1 ; no, RM = 0 ; yes RM = 15 - RDmod15 movlw d'15' subfwb xA+0,1 TFT_dive_compass_ruler_1: ; xA+0 holds the RM, store it to 'lo' movff xA+0,lo ; init DD to zero, store it to 'hi' movlw d'0' movff WREG,hi TFT_dive_compass_ruler_loop: ; 1. check if we run of from the display movlw d'160' ; Looks like 160 works because TFT_box limits the dispay cpfslt lo,1 bra TFT_dive_compass_ruler_lend ; xRM >= W ; 2. Clear the tick area from DD to RM - in segments to avoid blinking ; don't do a clear if we are at 0 (zero) otherwise it will blink ; because of the width underflow movlw d'0' cpfsgt lo,1 bra TFT_dive_compass_ruler_loop_zz rcall TFT_dive_compass_clr_ruler TFT_dive_compass_ruler_loop_zz: ; 3. Draw the markers @ RM rcall TFT_dive_compass_ruler_print ; 4. If D<82 and RM>79: means we put something over the center line ; redraw the center line movlw d'82' cpfslt hi,1 bra TFT_dive_compass_ruler_loop_zz2 movlw d'79' cpfsgt lo,1 bra TFT_dive_compass_ruler_loop_zz2 rcall TFT_dive_compass_cline ;enough to print cline as bearing marker is not in the ticker area TFT_dive_compass_ruler_loop_zz2: ; 5. set D = RM + 2 : position after the 2px tick movff lo,hi movlw d'2' addwf hi,1 ; 6. set RM = RM + 15 : position to the next tick movlw d'15' addwf lo,1 ; 7. loop bra TFT_dive_compass_ruler_loop TFT_dive_compass_ruler_lend: ; loop end ; 8. clear the rest of the tick area if D<160 movlw d'160' cpfslt hi,1 bra TFT_dive_compass_ruler_lend2 ; D >= W ; 9. position left to end of display to clear the remaining area movlw d'160' movwf lo ; 10. clear it rcall TFT_dive_compass_clr_ruler TFT_dive_compass_ruler_lend2: ; done with the compass ruler, put the labels on the screen ; get the RD abck to sub_b movff xRD+0,sub_b+0 movff xRD+1,sub_b+1 ; hi stores the display position movlw d'0' movwf hi ; lo stores the last item's display position movlw d'0' movwf lo bcf print_compass_label movlw d'14' movwf up ; up stores the width of hte label movlw low( d'219' ) ; position of the label movwf sub_a+0 movlw high( d'219' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_1 STRCPY_TEXT_PRINT tSW ; yes - print it dcr_1: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'7' movwf up ; up stores the width of hte label movlw low( d'267' ) ; position of the label movwf sub_a+0 movlw high( d'267' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_2 STRCPY_TEXT_PRINT tW ; yes - print it dcr_2: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'14' movwf up ; up stores the width of hte label movlw low( d'309' ) ; position of the label movwf sub_a+0 movlw high( d'309' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_3 STRCPY_TEXT_PRINT tNW ; yes - print it dcr_3: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'6' movwf up ; up stores the width of hte label movlw low( d'358' ) ; position of the label movwf sub_a+0 movlw high( d'358' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_4 STRCPY_TEXT_PRINT tN ; yes - print it dcr_4: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'13' movwf up ; up stores the width of hte label movlw low( d'399' ) ; position of the label movwf sub_a+0 movlw high( d'399' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_5 STRCPY_TEXT_PRINT tNE ; yes - print it dcr_5: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'6' movwf up ; up stores the width of hte label movlw low( d'448' ) ; position of the label movwf sub_a+0 movlw high( d'448' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_6 STRCPY_TEXT_PRINT tE ; yes - print it dcr_6: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'13' movwf up ; up stores the width of hte label movlw low( d'489' ) ; position of the label movwf sub_a+0 movlw high( d'489' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_7 STRCPY_TEXT_PRINT tSE ; yes - print it dcr_7: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'6' movwf up ; up stores the width of hte label movlw low( d'538' ) ; position of the label movwf sub_a+0 movlw high( d'538' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_8 STRCPY_TEXT_PRINT tS ; yes - print it dcr_8: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'14' movwf up ; up stores the width of hte label movlw low( d'579' ) ; position of the label movwf sub_a+0 movlw high( d'579' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_9 STRCPY_TEXT_PRINT tSW ; yes - print it dcr_9: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'7' movwf up ; up stores the width of hte label movlw low( d'627' ) ; position of the label movwf sub_a+0 movlw high( d'627' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_10 STRCPY_TEXT_PRINT tW ; yes - print it dcr_10: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'14' movwf up ; up stores the width of hte label movlw low( d'669' ) ; position of the label movwf sub_a+0 movlw high( d'669' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_11 STRCPY_TEXT_PRINT tNW ; yes - print it dcr_11: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker movlw d'6' movwf up ; up stores the width of hte label movlw low( d'718' ) ; position of the label movwf sub_a+0 movlw high( d'718' ) movwf sub_a+1 rcall TFT_dive_compass_label_proc ; check if the label should be on screen btfss print_compass_label ; Yes? bra dcr_12 STRCPY_TEXT_PRINT tN ; yes - print it dcr_12: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker TFT_dive_compass_label_end: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker ; restore lo and hi for the final cleanup movff xLO,lo movff xHI,hi ; clear the rest of the SQ area if there are more space movlw d'160' cpfslt hi bra TFT_dive_compass_label_end2 ; D >= 160, no more space ; position left to end of display to clear the remaining area movlw d'160' movff WREG,lo ; clear it rcall TFT_dive_compass_clr_label TFT_dive_compass_label_end2: rcall TFT_dive_compass_c_mk ; check if label is on the center line or the marker ; do we have bearing set? btfsc compass_bearing_set bra TFT_dive_compass_dir_text ; bearing_set=1 - go and print the dir (<< or >>) rcall TFT_dive_compass_dir_lclr ; no, clear the area (e.g. we had but removed) rcall TFT_dive_compass_dir_rclr bra TFT_dive_compass_text TFT_dive_compass_dir_text: ; bearing set, but does it point to heading? btfss compass_bearing_eq bra TFT_dive_compass_dir_text_2 ; bearing != heading - go and print the dir rcall TFT_dive_compass_dir_lclr ; bearing = heading, no need for direction markers rcall TFT_dive_compass_dir_rclr bra TFT_dive_compass_text TFT_dive_compass_dir_text_2: movlw color_green call TFT_set_color btfsc compass_bearing_lft bra TFT_dive_compass_dir_ldir ; bearing_lft=1, print the left marker ;TFT_dive_compass_text_rdir: WIN_SMALL dm_custom_compass_rdir_column, dm_custom_compass_head_row STRCPY_PRINT ">>" ; do not forget to clear the left rcall TFT_dive_compass_dir_lclr bra TFT_dive_compass_text TFT_dive_compass_dir_ldir: WIN_SMALL dm_custom_compass_ldir_column, dm_custom_compass_head_row STRCPY_PRINT "<<" ; do not forget to clear the right rcall TFT_dive_compass_dir_rclr ;bra TFT_dive_compass_text TFT_dive_compass_text: ; Text output call TFT_standard_color WIN_SMALL dm_custom_compass_head_column, dm_custom_compass_head_row rcall TFT_surface_compass_heading_com ; Show "000° N" return TFT_dive_compass_dir_lclr: WIN_SMALL dm_custom_compass_ldir_column, dm_custom_compass_head_row STRCPY_PRINT " " return TFT_dive_compass_dir_rclr: WIN_SMALL dm_custom_compass_rdir_column, dm_custom_compass_head_row STRCPY_PRINT " " return TFT_dive_compass_label_proc: ; Input: ; xHI: DD - display'a current position ; xRD: RD - ruler display offset ; sub_a: RP - item's ruler display offset ; get the RD abck to sub_b movff xHI,hi bcf print_compass_label ; 1/a. check if it's viewable ? sub_a(RP) >= sub_b(RD) ? ; set the carry flag if sub_b(xRD) is equal to or greater than sub_a(xRP): movff xRD+0,sub_b+0 movff xRD+1,sub_b+1 call subU16 ; sub_c = sub_a - sub_b btfsc neg_flag ; >=0? return ; No ; store the RO=RP-RD for drawing movff sub_c+0,xC+0 movff sub_c+1,xC+1 ; 1/b. check if it's viewable ? sub_a(RP)+up(width) < sub_b(RD)+160 ; if already above, no need to process the rest of the labels ;movff up,WREG ; don't worry about the width, low level call prevents overload movlw d'2' ; .. but still avoid thin mess on the side of the display addwf sub_a+0,1 btfsc STATUS, C incf sub_a+1 movff xRDr+0,sub_b+0 movff xRDr+1,sub_b+1 call subU16 ; sub_c = sub_a - sub_b btfss neg_flag ; ? <0 bra TFT_dive_compass_label_end ; No ; 2. restore RO=RP-RD from 1/a. movff xC+0,lo ; 3. Clear the segment from DD(hi) to lo ; don't do a clear if we are at 0 (zero) otherwise it will blink ; ?because of the width underflow? movlw d'0' cpfsgt lo bra TFT_dive_compass_label_proc_p rcall TFT_dive_compass_clr_label TFT_dive_compass_label_proc_p: ; 4. print the SQ on the screen call TFT_standard_color bsf print_compass_label ;TFT_dive_compass_label_print: movlw dm_custom_compass_label_row movff WREG,win_top movff lo,win_leftx2 movlw FT_SMALL movff WREG,win_font ; 6. retain the new display positions movff hi,divB ; old-hi will be used by the c_mk : clear+marker printing movff lo,hi movff up,WREG addwf hi,1 movff lo,xLO movff hi,xHI return TFT_dive_compass_c_mk: ; Common task to draw center line and marker ; until a proper implementation make it simple: rcall TFT_dive_compass_mk rcall TFT_dive_compass_cline return TFT_dive_compass_mk: ; draw the bearing on the screen if visible and if we just put something over it btfss compass_bearing_set return ; bearing_set=0 nothing to display btfss compass_bearing_vis return ; bearing set but not visible ; save lo/hi from trashing movff lo,xA+0 movff hi,xA+1 ; did we just update the marker's position? ; DD.......DD ; CM+2>=DD(old) or CM-2<=DD ; ToDo btfss compass_bearing_ahd bra TFT_dive_compass_mk_rear ;TFT_dive_compass_mk_front: clrf lo movff xCM,lo bsf print_compass_label ; set=green marker rcall TFT_dive_compass_mk_print bcf print_compass_label bra TFT_dive_compass_mk_end TFT_dive_compass_mk_rear: clrf lo movff xCM,lo bcf print_compass_label ; set=red marker rcall TFT_dive_compass_mk_print TFT_dive_compass_mk_end: movff xA+0,lo movff xA+1,hi return TFT_dive_compass_mk_print: movlw d'1' cpfsgt lo bra TFT_dive_compass_mk_print_2 ; lo<=1, skip the first line movlw d'2' subwf lo,0 ; movff WREG,win_leftx2 rcall TFT_dive_compass_mk_print_3 TFT_dive_compass_mk_print_2: ; save hi/lo movff hi,divA+1 movff lo,divA+0 ; clear the middle of hte bearing marker movff lo,hi movlw d'2' addwf lo,1 rcall TFT_dive_compass_clr_label ; restore hi/lo movff divA+1,hi movff divA+0,lo ; print a dot on the middle movff lo,WREG rcall TFT_dive_compass_mk_print_dot ; finally print the right marker line movlw d'2' addwf lo,0 ; rcall TFT_dive_compass_mk_print_3 ; return TFT_dive_compass_mk_print_3: movff WREG,win_leftx2 movlw dm_custom_compass_label_row movff WREG,win_top movlw dm_custom_compass_label_height-.2 movff WREG,win_height bra TFT_dive_compass_mk_print_4 TFT_dive_compass_mk_print_dot: movff WREG,win_leftx2 movlw dm_custom_compass_label_row + .9 movff WREG,win_top movlw d'4' movff WREG,win_height TFT_dive_compass_mk_print_4: movlw d'2' movff WREG,win_width movff WREG,win_bargraph movlw color_green btfss print_compass_label movlw color_red call TFT_set_color call TFT_box return TFT_dive_compass_clr_label: movlw dm_custom_compass_label_row-.2 ; set top & height movff WREG,win_top movlw dm_custom_compass_label_height+.2 movff WREG,win_height rcall TFT_dive_compass_clear return TFT_dive_compass_clr_ruler: ; top tick movlw dm_custom_compass_tick_top_top ; set top & height movff WREG,win_top movlw dm_custom_compass_tick_height movff WREG,win_height rcall TFT_dive_compass_clear ;bottom tick movlw dm_custom_compass_tick_bot_top ; set top & height movff WREG,win_top movlw dm_custom_compass_tick_height movff WREG,win_height ; rcall TFT_dive_compass_clear ; return TFT_dive_compass_clear: ; we receive RM in lo and DD in hi ; calculate width = RM-D movff hi,WREG subwf lo,0 movff WREG,win_width ; RM-DD movff WREG,win_bargraph ; incf hi,W ; +1 pixel to avopid clipping of chars ; movff WREG,win_leftx2 movff hi,win_leftx2 movlw color_black call TFT_set_color call TFT_box return TFT_dive_compass_ruler_print: ; we receive RM in lo and DD in hi movlw dm_custom_compass_tick_top_top movff WREG,win_top movlw dm_custom_compass_tick_height movff WREG,win_height movlw d'2' movff WREG,win_width movff WREG,win_bargraph movff lo,win_leftx2 ; 0..159 call TFT_standard_color call TFT_box movlw dm_custom_compass_tick_bot_top movff WREG,win_top movlw dm_custom_compass_tick_height movff WREG,win_height call TFT_standard_color ; color in WREG is trashed, must be set again! call TFT_box return TFT_dive_compass_cline: movlw color_yellow WIN_BOX_COLOR dm_custom_compass_tick_top_top, dm_custom_compass_tick_bot_bot,.80,.81 return tft_compass_cardinal: btfsc hi,0 ; Heading >255°? bra tft_compass_cardinal2 ; Yes must be W, NW or N ; No, Must be W, SW, S, SE, E, NE or N movlw .23 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_N movlw .68 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_NE movlw .113 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_E movlw .158 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_SE movlw .203 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_S movlw .248 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_SW bra tft_compass_cardinal_W tft_compass_cardinal2: movlw .37 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_W movlw .82 subwf lo,W btfss STATUS,C bra tft_compass_cardinal_NW ; bra tft_compass_cardinal_N tft_compass_cardinal_N: STRCAT_TEXT tN return tft_compass_cardinal_NE: STRCAT_TEXT tNE return tft_compass_cardinal_E: STRCAT_TEXT tE return tft_compass_cardinal_SE: STRCAT_TEXT tSE return tft_compass_cardinal_S: STRCAT_TEXT tS return tft_compass_cardinal_SW: STRCAT_TEXT tSW return tft_compass_cardinal_W: STRCAT_TEXT tW return tft_compass_cardinal_NW: STRCAT_TEXT tNW return compass_heading_common: call speed_normal movlw compass_averaging ; numbers of extra averaging movwf up compass_heading_common2: rcall TFT_get_compass decfsz up,F bra compass_heading_common2 extern compass call compass ; Do compass corrections. banksel common ; More then compass_fast_treshold? movff compass_heading_old+0,sub_a+0 movff compass_heading_old+1,sub_a+1 movff compass_heading+0,sub_b+0 movff compass_heading+1,sub_b+1 call sub16 btfss neg_flag ; <0? bra compass_heading_common3 ; No, test for threshold ; Yes, subtract the other way round movff compass_heading+0,sub_a+0 movff compass_heading+1,sub_a+1 movff compass_heading_old+0,sub_b+0 movff compass_heading_old+1,sub_b+1 call sub16 compass_heading_common3: movff compass_heading+0,compass_heading_old+0 ; copy new "old" movff compass_heading+1,compass_heading_old+1 bcf compass_fast_mode movlw compass_fast_treshold cpfslt sub_c+0 ; > compass_fast_treshold? bsf compass_fast_mode ; Yes! btfss compass_fast_mode ; In fast mode? return ; No. ; Yes. movff compass_heading+0,lo movff compass_heading+1,hi call TFT_convert_signed_16bit ; converts lo:hi into signed-short and adds '-' to POSTINC2 if required movff lo,compass_heading_shown+0 movff hi,compass_heading_shown+1 return TFT_get_compass: call I2C_RX_compass ; Test Compass call I2C_RX_accelerometer ; Test Accelerometer call compass_filter ; Filter Raw compass + accel readings. banksel common return END