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annotate code_part1/OSTC_code_asm_part1/altimeter.asm @ 156:3f4d60385f9c
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| author | heinrichsweikamp |
|---|---|
| date | Sun, 16 Jan 2011 21:17:24 +0100 |
| parents | 48f12271eb18 |
| children | fdebc43c8372 |
| 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. | |
| 26 ; | |
|
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27 ; Known bug: Simulator reset altitude and reference... |
|
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28 |
| 125 | 29 altimeter_calc: |
| 30 movlb HIGH(pressureAvg) | |
| 31 | |
| 32 movf pressureRef+0,W ; Already initialized ? | |
| 33 iorwf pressureRef+1,W | |
| 34 bnz altimeter_1 ; Yes... | |
| 35 | |
| 36 movlw LOW(4*.1013+1) ; Init see level at 1013,25 mbar. | |
| 37 movwf pressureRef+0 | |
| 38 movlw HIGH(4*.1013+1) | |
| 39 movwf pressureRef+1 | |
| 40 | |
| 41 ; Reset computation. Eg. after a sleep, enables to faster restart with correct | |
| 42 ; values... | |
| 43 altimeter_reset: | |
| 44 movlb HIGH(pressureAvg) | |
| 45 clrf pressureSum+0 ; Init averaging area | |
| 46 clrf pressureSum+1 | |
| 47 clrf pressureCount | |
| 48 | |
| 49 movff amb_pressure+0,pressureAvg+0 ; And init first average. | |
| 50 movff amb_pressure+1,pressureAvg+1 | |
| 51 | |
| 52 movlw 4 ; And multiply AVG by 16 to be coherent. | |
| 53 altimeter_reset_1: | |
| 54 bcf STATUS,C | |
| 55 rlcf pressureAvg+0 | |
| 56 rlcf pressureAvg+1 | |
| 57 decfsz WREG | |
| 58 bra altimeter_reset_1 | |
|
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59 |
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60 rcall compute_altitude |
| 125 | 61 |
| 62 movlb 1 ; Back to normal bank1. | |
| 63 return | |
| 64 | |
| 65 altimeter_1: | |
| 66 ;---- Do a bank-safe 16bit summing ----------------------------------- | |
| 67 movff amb_pressure+0,WREG | |
| 68 addwf pressureSum+0,F | |
| 69 movff amb_pressure+1,WREG | |
| 70 addwfc pressureSum+1,F | |
| 71 | |
| 72 incf pressureCount ; Increment count too. | |
| 73 movlw .32 ; Already 32 done ? | |
| 74 subwf pressureCount,W | |
| 75 bnz altimeter_4 ; NO: skip update. | |
| 76 | |
| 77 ;---- Update altitude every 32 pressure measures -------------------- | |
| 78 bcf STATUS,C ; Divide by 2, to store pressure x16 | |
| 79 rrcf pressureSum+1 | |
| 80 rrcf pressureSum+0 | |
| 81 | |
| 82 movff pressureSum+0,pressureAvg+0 | |
| 83 movff pressureSum+1,pressureAvg+1 | |
| 84 | |
| 85 rcall compute_altitude ; Compute from the averaged value... | |
| 86 | |
| 87 clrf pressureSum+0 ; And reset sum zone for next averaging. | |
| 88 clrf pressureSum+1 | |
| 89 clrf pressureCount | |
| 90 | |
| 91 altimeter_4: | |
| 92 movlb 1 ; make sure to be in normal bank1 | |
| 93 return | |
| 94 | |
| 95 ;---- Display result ------------------------------------------------- | |
| 96 altimeter_display: | |
| 97 GETCUSTOM8 .49 ; Check CF#49 | |
| 98 btfss WREG,0 ; Enabled ? | |
| 99 return ; NO: return | |
| 100 | |
| 101 WIN_TOP .35 ; Custom view drawing zone... | |
| 102 WIN_LEFT .90 | |
| 103 WIN_INVERT .0 | |
| 104 WIN_FONT .0 | |
| 105 call PLED_standard_color | |
| 106 | |
| 107 STRCPY "Alt:" | |
| 108 | |
| 109 movff altitude+0,lo ; BANK-SAFE read altitude | |
| 110 movff altitude+1,hi | |
| 111 movf lo,W ; Is it zero (not computed yet) ? | |
| 112 iorwf hi,W | |
| 113 bz altimeter_2 | |
| 114 | |
| 115 bsf leftbind | |
| 116 output_16 | |
| 117 bcf leftbind | |
| 118 bra altimeter_3 | |
| 119 | |
| 120 altimeter_2: | |
| 121 STRCAT "****" | |
| 122 | |
| 123 altimeter_3: | |
| 124 STRCAT_PRINT "m " | |
| 125 return | |
| 126 | |
| 127 ;============================================================================= | |
| 128 ; Compute altitude, using the formula: | |
| 129 ; H(P) = 18.787 log10(P0/P) (Log base 10) | |
| 130 | |
| 131 ;---- Interface the the Mayh library ----------------------------------------- | |
| 132 extern __AARGB2 ; A float in fA2, fA1, fA0, fAExo | |
| 133 extern __BARGB2 ; B float in fB2, fB1, fB0, fBExo | |
| 134 extern FLO1632U ; convert uint16 fA+1 --> fp32 fA | |
| 135 extern FPD32 ; fp32 divide fA/fB --> fA | |
| 136 extern FPM32 ; fp32 multiply fA*fB --> fA | |
| 137 extern INT3216 ; convert fp32 fA --> int16 fA+1 | |
| 138 #define fA __AARGB2 | |
| 139 #define fB __BARGB2 | |
| 140 | |
| 141 ;---- Interface to the C library --------------------------------------------- | |
| 142 extern __AARGB3 | |
| 143 extern log10 ; float32 log(auto float32) | |
| 144 #define fRet __AARGB3 | |
| 145 | |
| 146 compute_altitude: | |
| 147 ; Setup C-code stack, to enable calling the log() function. | |
| 148 lfsr FSR1, c_code_data_stack | |
| 149 lfsr FSR2, c_code_data_stack | |
| 150 | |
| 151 ; Convert pressure to float, --> fB | |
| 152 movff pressureAvg+0, fA+1 | |
| 153 movff pressureAvg+1, fA+2 | |
| 154 call FLO1632U ; u16 fA[1:2] --> fp32 fA | |
| 155 movff fA+0, fB+0 | |
| 156 movff fA+1, fB+1 | |
| 157 movff fA+2, fB+2 | |
| 158 movff fA+3, fB+3 | |
| 159 | |
| 160 ; Convert sea-level reference pressure to float, --> fB | |
| 161 movff pressureRef+0, fA+1 ; Get sea level pressure. | |
| 162 movff pressureRef+1, fA+2 | |
| 163 bcf STATUS,C ; Multiply by 4. | |
| 164 rlcf fA+1 | |
| 165 rlcf fA+2 | |
| 166 bcf STATUS,C | |
| 167 rlcf fA+1 | |
| 168 rlcf fA+2 | |
| 169 call FLO1632U ; to float: u16 fA[1:2] --> fp32 fA | |
| 170 | |
| 171 ; Divide | |
| 172 call FPD32 ; fp32 X/Y --> X | |
| 173 | |
| 174 ; log10() | |
| 175 movff fA+0, POSTINC1 ; Push X to stack | |
| 176 movff fA+1, POSTINC1 | |
| 177 movff fA+2, POSTINC1 | |
| 178 movff fA+3, POSTINC1 | |
| 179 call log10 ; log(P0/P) | |
| 180 | |
| 181 movf POSTDEC1,F,ACCESS ; pop argument | |
| 182 movf POSTDEC1,F,ACCESS | |
| 183 movf POSTDEC1,F,ACCESS | |
| 184 movf POSTDEC1,F,ACCESS | |
| 185 | |
| 186 ; Move log10(P0/P) to fB | |
| 187 movff fRet+0,fB+0 ; move result to fB | |
| 188 movff fRet+1,fB+1 | |
| 189 movff fRet+2,fB+2 | |
| 190 movff fRet+3,fB+3 | |
| 191 | |
| 192 ; Multiply by scaling factor for meters, and standatd atmosphere. | |
| 193 movlw LOW(.18787) | |
| 194 movff WREG, fA+1 | |
| 195 movlw HIGH(.18787) | |
| 196 movff WREG, fA+2 | |
| 197 call FLO1632U ; u16 fA[1:2] --> fp32 fA | |
| 198 call FPM32 ; altitute --> fp32 fA | |
| 199 | |
| 200 ; Convert result to int16 --> altitude. | |
| 201 call INT3216 ; fp32 fA --> int16 fA+1 | |
| 202 movff fA+1, altitude+0 | |
| 203 movff fA+2, altitude+1 | |
| 204 | |
| 205 return | |
| 206 | |
| 207 ;============================================================================= | |
| 208 ; Altimeter menu | |
| 209 ; | |
| 210 ; Edit reference (where altitude = 0) pressure, while displaying corresponding | |
| 211 ; altitude. | |
| 212 ; | |
| 213 altimeter_menu: | |
|
132
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
214 movff pressureRef+0,WREG ; Make sure it is initialized... |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
215 movff pressureRef+1,fA |
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49bb155ddfbf
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JeanDo
parents:
125
diff
changeset
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216 iorwf fA |
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49bb155ddfbf
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JeanDo
parents:
125
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changeset
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217 bnz altimeter_menu_1 ; Yes: skip reset... |
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49bb155ddfbf
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JeanDo
parents:
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changeset
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218 rcall altimeter_reset |
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49bb155ddfbf
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JeanDo
parents:
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219 |
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49bb155ddfbf
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parents:
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220 altimeter_menu_1: |
| 125 | 221 call PLED_ClearScreen ; Menu header. |
| 222 call PLED_standard_color | |
| 223 call PLED_topline_box | |
| 224 WIN_INVERT .1 ; Init new Wordprocessor | |
| 225 WIN_FONT .0 | |
| 226 WIN_LEFT .80-7*7 | |
| 134 | 227 WIN_TOP .1 |
| 125 | 228 STRCPY_PRINT "Set Altimeter:" |
| 229 | |
| 230 movlw 3 ; Start menu on line 3. | |
| 231 movwf menupos | |
| 232 | |
| 233 altimeter_menu_2: | |
| 234 WIN_FONT .0 ; Reset, because compute erase that... | |
| 235 WIN_INVERT .0 | |
| 236 WIN_LEFT .20 ; First line: | |
| 237 WIN_TOP .35 | |
| 238 STRCPY "Sea ref:" | |
| 239 | |
| 240 movff pressureRef+0, lo | |
| 241 movff pressureRef+1, hi | |
| 242 bcf STATUS,C ; Divide ref pressure by 4 | |
| 243 rrcf hi ; to get the integer part of it: | |
| 244 rrcf lo | |
| 245 bcf STATUS,C | |
| 246 rrcf hi | |
| 247 rrcf lo | |
| 248 bsf leftbind | |
| 249 output_16 | |
| 250 | |
| 251 PUTC '.' | |
| 252 movff pressureRef+0, hi ; Decimal part is constructed | |
| 253 clrf WREG ; from the 2 lower bits. | |
| 254 btfsc hi,0 | |
| 255 addlw .25 | |
| 256 btfsc hi,1 | |
| 257 addlw .50 | |
| 258 movwf lo | |
| 259 output_99x | |
| 260 | |
| 261 STRCAT_PRINT "mbar " | |
| 262 | |
| 263 WIN_TOP .65 ; Second line: | |
| 264 STRCPY "Alt:" | |
| 265 movff altitude+0, lo | |
| 266 movff altitude+1, hi | |
| 267 bcf leftbind | |
| 268 output_16 | |
| 269 STRCAT_PRINT "m " | |
| 270 | |
| 271 WIN_TOP .95 ; Action enable | |
| 272 STRCPY "Enabled: " | |
| 273 GETCUSTOM8 .49 | |
| 274 btfss WREG,0 | |
| 275 bra alt_menu_1 | |
| 276 STRCAT_PRINT "ON " | |
| 277 bra alt_menu_2 | |
| 278 alt_menu_1: | |
| 279 STRCAT_PRINT "OFF" | |
| 280 alt_menu_2: | |
| 281 | |
| 282 WIN_TOP .125 ; Action add | |
| 283 STRCPY_PRINT "+0.25 mbar" | |
| 284 WIN_TOP .155 ; Action sub | |
| 285 STRCPY_PRINT "-0.25 mbar" | |
| 286 WIN_TOP .185 ; Action exit | |
| 287 STRCPY_PRINT "Exit" | |
| 288 | |
| 289 alt_menu_loop: | |
| 290 call PLED_menu_cursor ; Display cursor | |
| 291 bcf switch_left ; reset buttons state | |
| 292 bcf switch_right | |
| 293 | |
| 294 alt_menu_loop1: ; Wait for button. | |
| 295 btfsc switch_right ; [[MENU]] button | |
| 296 bra alt_menu_next | |
| 297 | |
| 298 btfsc switch_left ;[[ENTER]] button | |
| 299 bra alt_menu_do_it | |
| 300 | |
| 301 btfsc divemode ; Diving stared ? | |
| 302 goto restart ; YES: quit this menu ! | |
| 303 | |
| 304 btfsc onesecupdate ; Check what should be every 1sec. | |
| 305 call timeout_surfmode | |
| 306 | |
| 307 btfsc onesecupdate | |
| 308 call set_dive_modes | |
| 309 | |
| 310 bcf onesecupdate ; end of 1sek. tasks | |
| 311 | |
| 312 btfsc sleepmode ; Sleep mode entered ? | |
| 313 bra alt_menu_exit | |
| 314 | |
| 315 bra alt_menu_loop1 | |
| 316 | |
| 317 ;---- Move to next line ------------------------------------------------------ | |
| 318 | |
| 319 alt_menu_next: | |
| 320 incf menupos ; next line. | |
| 321 movlw .7 | |
| 322 cpfseq menupos ; Below last line ? | |
| 323 bra alt_menu_loop | |
| 324 movlw .3 ; Yes: back to line no 3. | |
| 325 movwf menupos | |
| 326 bra alt_menu_loop | |
| 327 | |
| 328 ;----- Execute menu line ----------------------------------------------------- | |
| 329 | |
| 330 alt_menu_do_it: | |
| 331 movf menupos,W ; test line value | |
| 332 addlw -3 | |
| 333 bz alt_menu_enable | |
| 334 dcfsnz WREG | |
| 335 bra alt_menu_plus1 ; 4 --> +1 | |
| 336 dcfsnz WREG | |
| 337 bra alt_menu_minus1 ; 5 --> -1 | |
| 338 bra alt_menu_exit ; else --> exit | |
| 339 | |
| 340 ;---- Toggle altimeter (CF#49) ----------------------------------------------- | |
| 341 alt_menu_enable: | |
| 342 GETCUSTOM8 .49 ; Read CF#49 | |
| 343 btg WREG,0 ; Toggle boolean value | |
| 344 movwf EEDATA | |
| 345 movlw d'1' ; Upper EEPROM Bank | |
| 346 movwf EEADRH | |
| 347 movlw 4*(.49-.32) + 0x82 ; CF#49 low byte address in EEPROM | |
| 348 movwf EEADR | |
| 349 call write_eeprom | |
| 350 bra altimeter_menu_2 | |
| 351 | |
| 352 ;---- Increment sea level pressure ------------------------------------------- | |
| 353 | |
| 354 alt_menu_plus1: | |
| 355 movlb HIGH(pressureRef) ; Setup our own ram bank | |
| 356 infsnz pressureRef+0 ; 16bit inc. | |
| 357 incf pressureRef+1 | |
| 358 bra alt_menu_recompute ; then recompute altitude. | |
| 359 | |
| 360 ;---- Decrement sea level pressure ------------------------------------------- | |
| 361 | |
| 362 alt_menu_minus1: | |
| 363 movlb HIGH(pressureRef) ; Setup our own ram bank | |
| 364 decf pressureRef+0 ; 16bit decrement | |
| 365 movlw 0 | |
| 366 subwfb pressureRef+1 | |
| 367 | |
| 368 alt_menu_recompute: | |
| 369 rcall compute_altitude ; Recompute altitude | |
| 370 movlb 1 ; Go back to normal bank1 | |
| 371 bra altimeter_menu_2 | |
| 372 | |
| 373 ;---- Exit altimeter menu ---------------------------------------------------- | |
| 374 alt_menu_exit: | |
| 375 movlw .5 ; reset position to Altimeter line. | |
| 376 movwf menupos ; | |
| 377 goto more_menu2 ; in the More... menu. |