Mercurial > public > mk2
annotate code_part1/OSTC_code_asm_part1/altimeter.asm @ 192:c8816e4bc724
GF Model
+ Apply the Eric's Baker gradient formula.
+ Apply GF varying corrections for each compartiment.
+ B?hlmann 100/100 == Gradient factor 100/100.
+ Compute stop with gradient at current depth (not GF_low)
+ Add assert() on visual platform.
+ Overflow stop into the next bin at same depth.
+ debug last deco depth in range 3m..6m.
| author | JeanDo |
|---|---|
| date | Fri, 11 Feb 2011 23:39:35 +0100 |
| parents | 53b16a746166 |
| children | f5e9db793dd3 |
| 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 ; | |
|
132
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
27 ; Known bug: Simulator reset altitude and reference... |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
28 |
| 125 | 29 altimeter_calc: |
| 30 movlb HIGH(pressureAvg) | |
| 31 | |
| 170 | 32 movlw HIGH(4*.900) ; Is presure ref bigger than 900mbar |
| 33 cpfsgt pressureRef+1 | |
| 34 bra altimeter_reset ; No: Should do a reset now. | |
| 162 | 35 |
| 36 movlw HIGH(4*.1100) ; Is ref pressure bigger than 1100mbar ? | |
| 37 cpfsgt pressureRef+1 | |
| 38 bra altimeter_1 ; No: ok it is valid... | |
| 39 | |
| 170 | 40 ; Reset computation. Eg. after a sleep, enables to faster restart with correct |
| 41 ; values... | |
| 42 altimeter_reset: | |
| 43 movlb HIGH(pressureAvg) | |
| 125 | 44 movlw LOW(4*.1013+1) ; Init see level at 1013,25 mbar. |
| 45 movwf pressureRef+0 | |
| 46 movlw HIGH(4*.1013+1) | |
| 47 movwf pressureRef+1 | |
| 48 | |
| 49 clrf pressureSum+0 ; Init averaging area | |
| 50 clrf pressureSum+1 | |
| 51 clrf pressureCount | |
| 52 | |
| 53 movff amb_pressure+0,pressureAvg+0 ; And init first average. | |
| 54 movff amb_pressure+1,pressureAvg+1 | |
| 55 | |
| 56 movlw 4 ; And multiply AVG by 16 to be coherent. | |
| 57 altimeter_reset_1: | |
| 58 bcf STATUS,C | |
| 59 rlcf pressureAvg+0 | |
| 60 rlcf pressureAvg+1 | |
| 61 decfsz WREG | |
| 62 bra altimeter_reset_1 | |
|
132
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
63 |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
64 rcall compute_altitude |
| 125 | 65 |
| 66 movlb 1 ; Back to normal bank1. | |
| 67 return | |
| 68 | |
| 69 altimeter_1: | |
| 70 ;---- Do a bank-safe 16bit summing ----------------------------------- | |
| 71 movff amb_pressure+0,WREG | |
| 72 addwf pressureSum+0,F | |
| 73 movff amb_pressure+1,WREG | |
| 74 addwfc pressureSum+1,F | |
| 75 | |
| 76 incf pressureCount ; Increment count too. | |
| 77 movlw .32 ; Already 32 done ? | |
| 78 subwf pressureCount,W | |
| 79 bnz altimeter_4 ; NO: skip update. | |
| 80 | |
| 81 ;---- Update altitude every 32 pressure measures -------------------- | |
| 82 bcf STATUS,C ; Divide by 2, to store pressure x16 | |
| 83 rrcf pressureSum+1 | |
| 84 rrcf pressureSum+0 | |
| 85 | |
| 86 movff pressureSum+0,pressureAvg+0 | |
| 87 movff pressureSum+1,pressureAvg+1 | |
| 88 | |
| 89 rcall compute_altitude ; Compute from the averaged value... | |
| 90 | |
| 91 clrf pressureSum+0 ; And reset sum zone for next averaging. | |
| 92 clrf pressureSum+1 | |
| 93 clrf pressureCount | |
| 94 | |
| 95 altimeter_4: | |
| 96 movlb 1 ; make sure to be in normal bank1 | |
| 97 return | |
| 98 | |
| 99 ;---- Display result ------------------------------------------------- | |
| 100 altimeter_display: | |
| 101 GETCUSTOM8 .49 ; Check CF#49 | |
| 102 btfss WREG,0 ; Enabled ? | |
| 103 return ; NO: return | |
| 104 | |
| 105 WIN_TOP .35 ; Custom view drawing zone... | |
| 106 WIN_LEFT .90 | |
| 107 WIN_INVERT .0 | |
| 108 WIN_FONT .0 | |
| 109 call PLED_standard_color | |
| 110 | |
| 166 | 111 STRCPY "Alt: " |
| 125 | 112 |
| 113 movff altitude+0,lo ; BANK-SAFE read altitude | |
| 114 movff altitude+1,hi | |
| 166 | 115 btfss hi,7 ; Is altitude negativ ? |
| 116 bra altimeter_2 ; No: just print it | |
| 125 | 117 |
| 166 | 118 PUTC '-' ; Yes: print the minus sign |
| 119 comf hi ; And do a 16bit 2-complement. | |
| 120 comf lo | |
| 121 infsnz lo | |
| 122 incf hi | |
| 123 | |
| 124 altimeter_2: | |
| 125 | 125 bsf leftbind |
| 126 output_16 | |
| 127 bcf leftbind | |
| 128 | |
| 166 | 129 STRCAT_PRINT "m " |
| 125 | 130 return |
| 131 | |
| 132 ;============================================================================= | |
| 133 ; Compute altitude, using the formula: | |
| 134 ; H(P) = 18.787 log10(P0/P) (Log base 10) | |
| 135 | |
| 136 ;---- Interface the the Mayh library ----------------------------------------- | |
| 137 extern __AARGB2 ; A float in fA2, fA1, fA0, fAExo | |
| 138 extern __BARGB2 ; B float in fB2, fB1, fB0, fBExo | |
| 139 extern FLO1632U ; convert uint16 fA+1 --> fp32 fA | |
| 140 extern FPD32 ; fp32 divide fA/fB --> fA | |
| 141 extern FPM32 ; fp32 multiply fA*fB --> fA | |
| 142 extern INT3216 ; convert fp32 fA --> int16 fA+1 | |
| 143 #define fA __AARGB2 | |
| 144 #define fB __BARGB2 | |
| 145 | |
| 146 ;---- Interface to the C library --------------------------------------------- | |
| 147 extern __AARGB3 | |
| 148 extern log10 ; float32 log(auto float32) | |
| 149 #define fRet __AARGB3 | |
| 150 | |
| 151 compute_altitude: | |
| 152 ; Setup C-code stack, to enable calling the log() function. | |
| 153 lfsr FSR1, c_code_data_stack | |
| 154 lfsr FSR2, c_code_data_stack | |
| 155 | |
| 156 ; Convert pressure to float, --> fB | |
| 157 movff pressureAvg+0, fA+1 | |
| 158 movff pressureAvg+1, fA+2 | |
| 159 call FLO1632U ; u16 fA[1:2] --> fp32 fA | |
| 160 movff fA+0, fB+0 | |
| 161 movff fA+1, fB+1 | |
| 162 movff fA+2, fB+2 | |
| 163 movff fA+3, fB+3 | |
| 164 | |
| 165 ; Convert sea-level reference pressure to float, --> fB | |
| 166 movff pressureRef+0, fA+1 ; Get sea level pressure. | |
| 167 movff pressureRef+1, fA+2 | |
| 168 bcf STATUS,C ; Multiply by 4. | |
| 169 rlcf fA+1 | |
| 170 rlcf fA+2 | |
| 171 bcf STATUS,C | |
| 172 rlcf fA+1 | |
| 173 rlcf fA+2 | |
| 174 call FLO1632U ; to float: u16 fA[1:2] --> fp32 fA | |
| 175 | |
| 176 ; Divide | |
| 177 call FPD32 ; fp32 X/Y --> X | |
| 178 | |
| 179 ; log10() | |
| 180 movff fA+0, POSTINC1 ; Push X to stack | |
| 181 movff fA+1, POSTINC1 | |
| 182 movff fA+2, POSTINC1 | |
| 183 movff fA+3, POSTINC1 | |
| 184 call log10 ; log(P0/P) | |
| 185 | |
| 186 movf POSTDEC1,F,ACCESS ; pop argument | |
| 187 movf POSTDEC1,F,ACCESS | |
| 188 movf POSTDEC1,F,ACCESS | |
| 189 movf POSTDEC1,F,ACCESS | |
| 190 | |
| 191 ; Move log10(P0/P) to fB | |
| 192 movff fRet+0,fB+0 ; move result to fB | |
| 193 movff fRet+1,fB+1 | |
| 194 movff fRet+2,fB+2 | |
| 195 movff fRet+3,fB+3 | |
| 196 | |
| 197 ; Multiply by scaling factor for meters, and standatd atmosphere. | |
| 198 movlw LOW(.18787) | |
| 199 movff WREG, fA+1 | |
| 200 movlw HIGH(.18787) | |
| 201 movff WREG, fA+2 | |
| 202 call FLO1632U ; u16 fA[1:2] --> fp32 fA | |
| 203 call FPM32 ; altitute --> fp32 fA | |
| 204 | |
| 205 ; Convert result to int16 --> altitude. | |
| 206 call INT3216 ; fp32 fA --> int16 fA+1 | |
| 207 movff fA+1, altitude+0 | |
| 208 movff fA+2, altitude+1 | |
| 209 | |
| 210 return | |
| 211 | |
| 212 ;============================================================================= | |
| 213 ; Altimeter menu | |
| 214 ; | |
| 215 ; Edit reference (where altitude = 0) pressure, while displaying corresponding | |
| 216 ; altitude. | |
| 217 ; | |
| 218 altimeter_menu: | |
|
132
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
219 movff pressureRef+0,WREG ; Make sure it is initialized... |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
220 movff pressureRef+1,fA |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
221 iorwf fA |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
222 bnz altimeter_menu_1 ; Yes: skip reset... |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
223 rcall altimeter_reset |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
224 |
|
49bb155ddfbf
Fix altimeter after simulator (zero divide -> 32767m)
JeanDo
parents:
125
diff
changeset
|
225 altimeter_menu_1: |
| 125 | 226 call PLED_ClearScreen ; Menu header. |
| 227 call PLED_standard_color | |
| 228 call PLED_topline_box | |
| 229 WIN_INVERT .1 ; Init new Wordprocessor | |
| 174 | 230 DISPLAYTEXTH .288 ; Title bar |
| 125 | 231 |
| 170 | 232 movlw 2 ; Start menu on line 2. |
| 125 | 233 movwf menupos |
| 234 | |
| 235 altimeter_menu_2: | |
| 174 | 236 WIN_INVERT 0 |
| 237 WIN_FONT 0 | |
| 125 | 238 WIN_LEFT .20 ; First line: |
| 239 WIN_TOP .35 | |
| 174 | 240 lfsr FSR2,letter |
| 241 OUTPUTTEXTH .289 ; Sea ref: | |
| 125 | 242 |
| 243 movff pressureRef+0, lo | |
| 244 movff pressureRef+1, hi | |
| 245 bcf STATUS,C ; Divide ref pressure by 4 | |
| 246 rrcf hi ; to get the integer part of it: | |
| 247 rrcf lo | |
| 248 bcf STATUS,C | |
| 249 rrcf hi | |
| 250 rrcf lo | |
| 251 bsf leftbind | |
| 252 output_16 | |
| 253 | |
| 170 | 254 STRCAT_PRINT " mbar " |
| 125 | 255 |
| 170 | 256 WIN_TOP .65 ; Action enable |
| 174 | 257 lfsr FSR2, letter |
| 258 OUTPUTTEXTH .290 | |
| 125 | 259 GETCUSTOM8 .49 |
| 260 btfss WREG,0 | |
| 261 bra alt_menu_1 | |
| 262 STRCAT_PRINT "ON " | |
| 263 bra alt_menu_2 | |
| 264 alt_menu_1: | |
| 265 STRCAT_PRINT "OFF" | |
| 266 alt_menu_2: | |
| 267 | |
| 174 | 268 DISPLAYTEXTH .291 ; Action reset |
| 269 DISPLAYTEXTH .292 ; Action add | |
| 270 DISPLAYTEXTH .293 ; Action sub | |
| 271 DISPLAYTEXT .011 ; Action exit | |
| 125 | 272 |
| 174 | 273 WIN_LEFT .85 ; Bottom right. |
| 274 lfsr FSR2, letter | |
| 275 OUTPUTTEXTH .294 ; "Alt: " | |
| 276 | |
| 170 | 277 movff altitude+0, lo |
| 278 movff altitude+1, hi | |
| 279 btfss hi,7 ; Is altitude negativ ? | |
| 280 bra altimeter_menu_3 ; No: just print it | |
| 281 | |
| 282 PUTC '-' ; Yes: print the minus sign | |
| 283 comf hi ; And do a 16bit 2-complement. | |
| 284 comf lo | |
| 285 infsnz lo | |
| 286 incf hi | |
| 287 | |
| 288 altimeter_menu_3: | |
| 289 bsf leftbind | |
| 290 output_16 | |
| 291 bcf leftbind | |
| 292 STRCAT_PRINT "m " | |
| 293 | |
| 125 | 294 alt_menu_loop: |
| 295 call PLED_menu_cursor ; Display cursor | |
| 296 bcf switch_left ; reset buttons state | |
| 297 bcf switch_right | |
| 298 | |
| 299 alt_menu_loop1: ; Wait for button. | |
| 300 btfsc switch_right ; [[MENU]] button | |
| 301 bra alt_menu_next | |
| 302 | |
| 303 btfsc switch_left ;[[ENTER]] button | |
| 304 bra alt_menu_do_it | |
| 305 | |
| 306 btfsc divemode ; Diving stared ? | |
| 307 goto restart ; YES: quit this menu ! | |
| 308 | |
| 309 btfsc onesecupdate ; Check what should be every 1sec. | |
| 310 call timeout_surfmode | |
| 311 | |
| 312 btfsc onesecupdate | |
| 313 call set_dive_modes | |
| 314 | |
| 315 bcf onesecupdate ; end of 1sek. tasks | |
| 316 | |
| 317 btfsc sleepmode ; Sleep mode entered ? | |
| 318 bra alt_menu_exit | |
| 319 | |
| 320 bra alt_menu_loop1 | |
| 321 | |
| 322 ;---- Move to next line ------------------------------------------------------ | |
| 323 | |
| 324 alt_menu_next: | |
| 325 incf menupos ; next line. | |
| 326 movlw .7 | |
| 327 cpfseq menupos ; Below last line ? | |
| 328 bra alt_menu_loop | |
| 170 | 329 movlw .2 ; Yes: back to line no 2. |
| 125 | 330 movwf menupos |
| 331 bra alt_menu_loop | |
| 332 | |
| 333 ;----- Execute menu line ----------------------------------------------------- | |
| 334 | |
| 335 alt_menu_do_it: | |
| 336 movf menupos,W ; test line value | |
| 170 | 337 addlw -2 |
| 338 bz alt_menu_enable ; 2 --> reset | |
| 339 dcfsnz WREG | |
| 340 bra alt_menu_reset ; 3 --> +1 | |
| 125 | 341 dcfsnz WREG |
| 342 bra alt_menu_plus1 ; 4 --> +1 | |
| 343 dcfsnz WREG | |
| 344 bra alt_menu_minus1 ; 5 --> -1 | |
| 345 bra alt_menu_exit ; else --> exit | |
| 346 | |
| 347 ;---- Toggle altimeter (CF#49) ----------------------------------------------- | |
| 348 alt_menu_enable: | |
| 349 GETCUSTOM8 .49 ; Read CF#49 | |
| 350 btg WREG,0 ; Toggle boolean value | |
| 351 movwf EEDATA | |
| 352 movlw d'1' ; Upper EEPROM Bank | |
| 353 movwf EEADRH | |
| 354 movlw 4*(.49-.32) + 0x82 ; CF#49 low byte address in EEPROM | |
| 355 movwf EEADR | |
| 356 call write_eeprom | |
| 357 bra altimeter_menu_2 | |
| 358 | |
| 170 | 359 ;---- Reset sea level pressure to reference ---------------------------------- |
| 360 alt_menu_reset: | |
| 361 rcall altimeter_reset | |
| 362 movlb 1 ; Go back to normal bank1 | |
| 363 bra altimeter_menu_2 | |
| 364 | |
| 125 | 365 ;---- Increment sea level pressure ------------------------------------------- |
| 366 alt_menu_plus1: | |
| 367 movlb HIGH(pressureRef) ; Setup our own ram bank | |
| 170 | 368 movlw 4 |
| 369 addwf pressureRef+0,F ; 16bit inc. | |
| 370 movlw 0 | |
| 371 addwfc pressureRef+1,F | |
| 125 | 372 bra alt_menu_recompute ; then recompute altitude. |
| 373 | |
| 374 ;---- Decrement sea level pressure ------------------------------------------- | |
| 375 alt_menu_minus1: | |
| 376 movlb HIGH(pressureRef) ; Setup our own ram bank | |
| 170 | 377 movlw -4 |
| 378 addwf pressureRef+0,F ; 16bit decrement | |
| 379 movlw -1 | |
| 380 addwfc pressureRef+1,F | |
| 125 | 381 |
| 382 alt_menu_recompute: | |
| 383 rcall compute_altitude ; Recompute altitude | |
| 384 movlb 1 ; Go back to normal bank1 | |
| 385 bra altimeter_menu_2 | |
| 386 | |
| 387 ;---- Exit altimeter menu ---------------------------------------------------- | |
| 388 alt_menu_exit: | |
| 389 movlw .5 ; reset position to Altimeter line. | |
| 390 movwf menupos ; | |
| 391 goto more_menu2 ; in the More... menu. |