Mercurial > public > mk2
annotate code_part1/OSTC_code_asm_part1/altimeter.asm @ 514:3e9904d3c040
BUGFIX spurious CNS bound check.
| author | JeanDo |
|---|---|
| date | Sun, 04 Dec 2011 17:46:13 +0100 |
| parents | 6e57b5bb98ce |
| children | ab2686087bce |
| rev | line source |
|---|---|
| 125 | 1 ;============================================================================= |
| 2 ; | |
| 3 ; File altimeter.asm | |
| 4 ; | |
| 5 ; Altimeter function prototype. | |
| 6 ; | |
| 7 ; This program is free software: you can redistribute it and/or modify | |
| 8 ; it under the terms of the GNU General Public License as published by | |
| 9 ; the Free Software Foundation, either version 3 of the License, or | |
| 10 ; (at your option) any later version. | |
| 11 ; | |
| 12 ; This program is distributed in the hope that it will be useful, | |
| 13 ; but WITHOUT ANY WARRANTY; without even the implied warranty of | |
| 14 ; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
| 15 ; GNU General Public License for more details. | |
| 16 ; | |
| 17 ; You should have received a copy of the GNU General Public License | |
| 18 ; along with this program. If not, see <http://www.gnu.org/licenses/>. | |
| 19 ; | |
| 20 ; Copyright (c) 2010, JD Gascuel. | |
| 21 ;============================================================================= | |
| 22 ; HISTORY | |
| 23 ; 2010-12-15 : [jDG] First prototype with quadratic polynomial ant tp°. | |
| 24 ; 2010-12-28 : [jDG] Use MPLAB Math and C libraries for FP32 computations. | |
| 25 ; 2011-01-02 : [jDG] Edit reference pressure by 0.25 mbar. | |
| 214 | 26 ; 2011-01-31 : [jDG] Better menu: default 1013mbar, and editing by +/- 1mbar. |
| 27 ; 2011-02-23 : [jDG] Fix restart after sleepmode. | |
| 125 | 28 ; |
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29 ; Known bug: Simulator reset altitude and reference... |
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30 |
| 125 | 31 altimeter_calc: |
| 214 | 32 movlb HIGH(pressureAvg) ; Altimeter data in bank 0. |
| 125 | 33 |
| 170 | 34 movlw HIGH(4*.900) ; Is presure ref bigger than 900mbar |
| 35 cpfsgt pressureRef+1 | |
| 214 | 36 bra altimeter_reset ; No: Should do a reset now. |
| 162 | 37 |
| 38 movlw HIGH(4*.1100) ; Is ref pressure bigger than 1100mbar ? | |
| 39 cpfsgt pressureRef+1 | |
| 40 bra altimeter_1 ; No: ok it is valid... | |
| 41 | |
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42 ; Reset calibration value to default. |
| 170 | 43 altimeter_reset: |
| 214 | 44 movlb HIGH(pressureAvg) ; Altimeter data in bank 0. |
| 125 | 45 movlw LOW(4*.1013+1) ; Init see level at 1013,25 mbar. |
| 46 movwf pressureRef+0 | |
| 47 movlw HIGH(4*.1013+1) | |
| 48 movwf pressureRef+1 | |
| 49 | |
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50 ; Restart averaging. Eg. after a sleep, enables to faster restart with correct |
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51 ; values... |
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52 altimeter_restart: |
| 214 | 53 movlb HIGH(pressureAvg) ; Altimeter data in bank 0. |
| 125 | 54 clrf pressureSum+0 ; Init averaging area |
| 55 clrf pressureSum+1 | |
| 56 clrf pressureCount | |
| 57 | |
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58 SAFE_2BYTE_COPY amb_pressure, pressureAvg ; And init first average. |
| 125 | 59 |
| 60 movlw 4 ; And multiply AVG by 16 to be coherent. | |
| 61 altimeter_reset_1: | |
| 62 bcf STATUS,C | |
| 63 rlcf pressureAvg+0 | |
| 64 rlcf pressureAvg+1 | |
| 65 decfsz WREG | |
| 66 bra altimeter_reset_1 | |
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67 |
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68 rcall compute_altitude |
| 125 | 69 |
| 70 movlb 1 ; Back to normal bank1. | |
| 71 return | |
| 72 | |
| 73 altimeter_1: | |
| 74 ;---- Do a bank-safe 16bit summing ----------------------------------- | |
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BUGFIX protect against ISR changing pressure/temperature while reading it.
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75 SAFE_2BYTE_COPY amb_pressure, lo ; And init first average. |
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BUGFIX protect against ISR changing pressure/temperature while reading it.
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76 |
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77 movff lo,WREG |
| 125 | 78 addwf pressureSum+0,F |
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79 movff hi,WREG |
| 125 | 80 addwfc pressureSum+1,F |
| 81 | |
| 82 incf pressureCount ; Increment count too. | |
| 83 movlw .32 ; Already 32 done ? | |
| 84 subwf pressureCount,W | |
| 85 bnz altimeter_4 ; NO: skip update. | |
| 86 | |
| 87 ;---- Update altitude every 32 pressure measures -------------------- | |
| 88 bcf STATUS,C ; Divide by 2, to store pressure x16 | |
| 89 rrcf pressureSum+1 | |
| 90 rrcf pressureSum+0 | |
| 91 | |
| 92 movff pressureSum+0,pressureAvg+0 | |
| 93 movff pressureSum+1,pressureAvg+1 | |
| 94 | |
| 95 rcall compute_altitude ; Compute from the averaged value... | |
| 96 | |
| 97 clrf pressureSum+0 ; And reset sum zone for next averaging. | |
| 98 clrf pressureSum+1 | |
| 99 clrf pressureCount | |
| 100 | |
| 101 altimeter_4: | |
| 102 movlb 1 ; make sure to be in normal bank1 | |
| 103 return | |
| 104 | |
| 105 ;---- Display result ------------------------------------------------- | |
| 106 altimeter_display: | |
| 107 GETCUSTOM8 .49 ; Check CF#49 | |
| 108 btfss WREG,0 ; Enabled ? | |
| 109 return ; NO: return | |
| 110 | |
| 111 WIN_TOP .35 ; Custom view drawing zone... | |
| 112 WIN_LEFT .90 | |
| 113 WIN_INVERT .0 | |
| 114 WIN_FONT .0 | |
| 115 call PLED_standard_color | |
| 116 | |
| 445 | 117 STRCPY TXT_ALT5 |
| 125 | 118 |
| 119 movff altitude+0,lo ; BANK-SAFE read altitude | |
| 120 movff altitude+1,hi | |
| 166 | 121 btfss hi,7 ; Is altitude negativ ? |
| 122 bra altimeter_2 ; No: just print it | |
| 125 | 123 |
| 166 | 124 PUTC '-' ; Yes: print the minus sign |
| 125 comf hi ; And do a 16bit 2-complement. | |
| 126 comf lo | |
| 127 infsnz lo | |
| 128 incf hi | |
| 129 | |
| 130 altimeter_2: | |
| 125 | 131 bsf leftbind |
| 132 output_16 | |
| 133 bcf leftbind | |
| 134 | |
| 445 | 135 STRCAT_PRINT TXT_METER5 |
| 125 | 136 return |
| 137 | |
| 138 ;============================================================================= | |
| 139 ; Compute altitude, using the formula: | |
| 140 ; H(P) = 18.787 log10(P0/P) (Log base 10) | |
| 141 | |
| 142 ;---- Interface the the Mayh library ----------------------------------------- | |
| 143 extern __AARGB2 ; A float in fA2, fA1, fA0, fAExo | |
| 144 extern __BARGB2 ; B float in fB2, fB1, fB0, fBExo | |
| 145 extern FLO1632U ; convert uint16 fA+1 --> fp32 fA | |
| 146 extern FPD32 ; fp32 divide fA/fB --> fA | |
| 147 extern FPM32 ; fp32 multiply fA*fB --> fA | |
| 148 extern INT3216 ; convert fp32 fA --> int16 fA+1 | |
| 149 #define fA __AARGB2 | |
| 150 #define fB __BARGB2 | |
| 151 | |
| 152 ;---- Interface to the C library --------------------------------------------- | |
| 153 extern __AARGB3 | |
| 154 extern log10 ; float32 log(auto float32) | |
| 155 #define fRet __AARGB3 | |
| 156 | |
| 157 compute_altitude: | |
| 158 ; Setup C-code stack, to enable calling the log() function. | |
| 159 lfsr FSR1, c_code_data_stack | |
| 160 lfsr FSR2, c_code_data_stack | |
| 161 | |
| 162 ; Convert pressure to float, --> fB | |
| 163 movff pressureAvg+0, fA+1 | |
| 164 movff pressureAvg+1, fA+2 | |
| 165 call FLO1632U ; u16 fA[1:2] --> fp32 fA | |
| 166 movff fA+0, fB+0 | |
| 167 movff fA+1, fB+1 | |
| 168 movff fA+2, fB+2 | |
| 169 movff fA+3, fB+3 | |
| 170 | |
| 171 ; Convert sea-level reference pressure to float, --> fB | |
| 172 movff pressureRef+0, fA+1 ; Get sea level pressure. | |
| 173 movff pressureRef+1, fA+2 | |
| 174 bcf STATUS,C ; Multiply by 4. | |
| 175 rlcf fA+1 | |
| 176 rlcf fA+2 | |
| 177 bcf STATUS,C | |
| 178 rlcf fA+1 | |
| 179 rlcf fA+2 | |
| 180 call FLO1632U ; to float: u16 fA[1:2] --> fp32 fA | |
| 181 | |
| 182 ; Divide | |
| 183 call FPD32 ; fp32 X/Y --> X | |
| 184 | |
| 185 ; log10() | |
| 186 movff fA+0, POSTINC1 ; Push X to stack | |
| 187 movff fA+1, POSTINC1 | |
| 188 movff fA+2, POSTINC1 | |
| 189 movff fA+3, POSTINC1 | |
| 190 call log10 ; log(P0/P) | |
| 191 | |
| 192 movf POSTDEC1,F,ACCESS ; pop argument | |
| 193 movf POSTDEC1,F,ACCESS | |
| 194 movf POSTDEC1,F,ACCESS | |
| 195 movf POSTDEC1,F,ACCESS | |
| 196 | |
| 197 ; Move log10(P0/P) to fB | |
| 198 movff fRet+0,fB+0 ; move result to fB | |
| 199 movff fRet+1,fB+1 | |
| 200 movff fRet+2,fB+2 | |
| 201 movff fRet+3,fB+3 | |
| 202 | |
| 203 ; Multiply by scaling factor for meters, and standatd atmosphere. | |
| 204 movlw LOW(.18787) | |
| 205 movff WREG, fA+1 | |
| 206 movlw HIGH(.18787) | |
| 207 movff WREG, fA+2 | |
| 208 call FLO1632U ; u16 fA[1:2] --> fp32 fA | |
| 209 call FPM32 ; altitute --> fp32 fA | |
| 210 | |
| 211 ; Convert result to int16 --> altitude. | |
| 212 call INT3216 ; fp32 fA --> int16 fA+1 | |
| 213 movff fA+1, altitude+0 | |
| 214 movff fA+2, altitude+1 | |
| 215 | |
| 216 return | |
| 217 | |
| 218 ;============================================================================= | |
| 219 ; Altimeter menu | |
| 220 ; | |
| 221 ; Edit reference (where altitude = 0) pressure, while displaying corresponding | |
| 222 ; altitude. | |
| 223 ; | |
| 224 altimeter_menu: | |
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Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
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changeset
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225 movff pressureRef+0,WREG ; Make sure it is initialized... |
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JeanDo
parents:
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226 movff pressureRef+1,fA |
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227 iorwf fA |
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228 bnz altimeter_menu_1 ; Yes: skip reset... |
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229 rcall altimeter_reset |
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230 |
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231 altimeter_menu_1: |
| 125 | 232 call PLED_ClearScreen ; Menu header. |
| 233 call PLED_standard_color | |
| 234 call PLED_topline_box | |
| 235 WIN_INVERT .1 ; Init new Wordprocessor | |
| 174 | 236 DISPLAYTEXTH .288 ; Title bar |
| 125 | 237 |
| 170 | 238 movlw 2 ; Start menu on line 2. |
| 125 | 239 movwf menupos |
| 240 | |
| 241 altimeter_menu_2: | |
| 174 | 242 WIN_INVERT 0 |
| 243 WIN_FONT 0 | |
| 125 | 244 WIN_LEFT .20 ; First line: |
| 245 WIN_TOP .35 | |
| 174 | 246 lfsr FSR2,letter |
| 247 OUTPUTTEXTH .289 ; Sea ref: | |
| 125 | 248 |
| 249 movff pressureRef+0, lo | |
| 250 movff pressureRef+1, hi | |
| 251 bcf STATUS,C ; Divide ref pressure by 4 | |
| 252 rrcf hi ; to get the integer part of it: | |
| 253 rrcf lo | |
| 254 bcf STATUS,C | |
| 255 rrcf hi | |
| 256 rrcf lo | |
| 257 bsf leftbind | |
| 258 output_16 | |
| 259 | |
| 445 | 260 STRCAT_PRINT TXT_MBAR7 |
| 125 | 261 |
| 170 | 262 WIN_TOP .65 ; Action enable |
| 174 | 263 lfsr FSR2, letter |
| 264 OUTPUTTEXTH .290 | |
| 125 | 265 GETCUSTOM8 .49 |
| 266 btfss WREG,0 | |
| 267 bra alt_menu_1 | |
| 199 | 268 OUTPUTTEXT .130 ; ON |
| 125 | 269 bra alt_menu_2 |
| 270 alt_menu_1: | |
| 199 | 271 OUTPUTTEXT .131 ; OFF |
| 125 | 272 alt_menu_2: |
| 199 | 273 call word_processor |
| 125 | 274 |
| 174 | 275 DISPLAYTEXTH .291 ; Action reset |
| 276 DISPLAYTEXTH .292 ; Action add | |
| 277 DISPLAYTEXTH .293 ; Action sub | |
| 278 DISPLAYTEXT .011 ; Action exit | |
| 125 | 279 |
| 174 | 280 WIN_LEFT .85 ; Bottom right. |
| 281 lfsr FSR2, letter | |
| 282 OUTPUTTEXTH .294 ; "Alt: " | |
| 283 | |
| 170 | 284 movff altitude+0, lo |
| 285 movff altitude+1, hi | |
| 286 btfss hi,7 ; Is altitude negativ ? | |
| 287 bra altimeter_menu_3 ; No: just print it | |
| 288 | |
| 289 PUTC '-' ; Yes: print the minus sign | |
| 290 comf hi ; And do a 16bit 2-complement. | |
| 291 comf lo | |
| 292 infsnz lo | |
| 293 incf hi | |
| 294 | |
| 295 altimeter_menu_3: | |
| 296 bsf leftbind | |
| 297 output_16 | |
| 298 bcf leftbind | |
| 445 | 299 STRCAT_PRINT TXT_METER5 |
| 170 | 300 |
| 125 | 301 alt_menu_loop: |
| 302 call PLED_menu_cursor ; Display cursor | |
| 303 bcf switch_left ; reset buttons state | |
| 304 bcf switch_right | |
| 305 | |
| 306 alt_menu_loop1: ; Wait for button. | |
| 337 | 307 btfsc uart_dump_screen ; Asked to dump screen contains ? |
| 308 call dump_screen ; Yes! | |
| 309 | |
| 125 | 310 btfsc switch_right ; [[MENU]] button |
| 311 bra alt_menu_next | |
| 312 | |
| 313 btfsc switch_left ;[[ENTER]] button | |
| 314 bra alt_menu_do_it | |
| 315 | |
| 316 btfsc divemode ; Diving stared ? | |
| 317 goto restart ; YES: quit this menu ! | |
| 318 | |
| 319 btfsc onesecupdate ; Check what should be every 1sec. | |
| 320 call timeout_surfmode | |
| 321 | |
| 322 btfsc onesecupdate | |
| 323 call set_dive_modes | |
| 324 | |
| 325 bcf onesecupdate ; end of 1sek. tasks | |
| 326 | |
| 327 btfsc sleepmode ; Sleep mode entered ? | |
| 328 bra alt_menu_exit | |
| 329 | |
| 330 bra alt_menu_loop1 | |
| 331 | |
| 332 ;---- Move to next line ------------------------------------------------------ | |
| 333 | |
| 334 alt_menu_next: | |
| 335 incf menupos ; next line. | |
| 336 movlw .7 | |
| 337 cpfseq menupos ; Below last line ? | |
| 338 bra alt_menu_loop | |
| 170 | 339 movlw .2 ; Yes: back to line no 2. |
| 125 | 340 movwf menupos |
| 341 bra alt_menu_loop | |
| 342 | |
| 343 ;----- Execute menu line ----------------------------------------------------- | |
| 344 | |
| 345 alt_menu_do_it: | |
| 346 movf menupos,W ; test line value | |
| 170 | 347 addlw -2 |
| 348 bz alt_menu_enable ; 2 --> reset | |
| 349 dcfsnz WREG | |
| 350 bra alt_menu_reset ; 3 --> +1 | |
| 125 | 351 dcfsnz WREG |
| 352 bra alt_menu_plus1 ; 4 --> +1 | |
| 353 dcfsnz WREG | |
| 354 bra alt_menu_minus1 ; 5 --> -1 | |
| 355 bra alt_menu_exit ; else --> exit | |
| 356 | |
| 357 ;---- Toggle altimeter (CF#49) ----------------------------------------------- | |
| 358 alt_menu_enable: | |
| 359 GETCUSTOM8 .49 ; Read CF#49 | |
| 360 btg WREG,0 ; Toggle boolean value | |
| 361 movwf EEDATA | |
| 362 movlw d'1' ; Upper EEPROM Bank | |
| 363 movwf EEADRH | |
| 364 movlw 4*(.49-.32) + 0x82 ; CF#49 low byte address in EEPROM | |
| 365 movwf EEADR | |
| 366 call write_eeprom | |
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Work-Around for "Reset all" overwriting 0x00 to 0x04 in EEPROM Bank1
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367 clrf EEADRH ; Reset EEADRH for compatibility |
| 125 | 368 bra altimeter_menu_2 |
| 369 | |
| 170 | 370 ;---- Reset sea level pressure to reference ---------------------------------- |
| 371 alt_menu_reset: | |
| 372 rcall altimeter_reset | |
| 373 bra altimeter_menu_2 | |
| 374 | |
| 125 | 375 ;---- Increment sea level pressure ------------------------------------------- |
| 376 alt_menu_plus1: | |
| 377 movlb HIGH(pressureRef) ; Setup our own ram bank | |
| 170 | 378 movlw 4 |
| 379 addwf pressureRef+0,F ; 16bit inc. | |
| 380 movlw 0 | |
| 381 addwfc pressureRef+1,F | |
| 125 | 382 bra alt_menu_recompute ; then recompute altitude. |
| 383 | |
| 384 ;---- Decrement sea level pressure ------------------------------------------- | |
| 385 alt_menu_minus1: | |
| 386 movlb HIGH(pressureRef) ; Setup our own ram bank | |
| 170 | 387 movlw -4 |
| 388 addwf pressureRef+0,F ; 16bit decrement | |
| 389 movlw -1 | |
| 390 addwfc pressureRef+1,F | |
| 125 | 391 |
| 392 alt_menu_recompute: | |
| 393 rcall compute_altitude ; Recompute altitude | |
| 394 movlb 1 ; Go back to normal bank1 | |
| 395 bra altimeter_menu_2 | |
| 396 | |
| 397 ;---- Exit altimeter menu ---------------------------------------------------- | |
| 398 alt_menu_exit: | |
| 399 movlw .5 ; reset position to Altimeter line. | |
| 400 movwf menupos ; | |
| 401 goto more_menu2 ; in the More... menu. |