; gps_lcd.src ; ; DBeals Apr 19, 2004 ; ; Receive GPS serial chars, format, send display chars to LCD. ; ;------------------------------------------------------- ; Scenix SX18 processor ; Seetron 2 row by 20 character LCD ; Garmin 25LVC GPS sensor ; (see notes at the end for more device information) ;------------------------------------------------------- ; Port A bit 0 pin ?? Output RS232 serial (TTL level) to LCD ; bit 1 unused ; bit 2 unused ; bit 3 unused ; ; Port B bit 0 pin ?? input RS232 serial (TTL level) from GPS ; bit 1 unused ; bit 2 unused ; bit 3 unused ; bit 4 unused ; bit 5 unused ; bit 6 unused ; bit 7 unused ;------------------------------------------------------- ; data ram: ; 00-07 8 CPU registers ; 08-0F 8 bytes of global RAM ; 10-1F, 30-3F, 50-5F...F0-FF 8 banks of 16 bytes user RAM. ; ; code rom: ; 4 banks of 512 ($200) bytes. ; org $000 = bank 0, $200 = bank 1, $400 = bank2, $600 = bank3 ; ;------------------------------------------------------- device SX18, OSCHS, TURBO, STACKX, OPTIONX IRC_CAL IRC_FAST freq 20_000_000 reset start_point ;------------------------------------------------------- ; global variables org 7 ; (the SX18 can use RAM 7 as global) RS232out ds 1 ; 7 LCD RS232 out character RS232in ds 1 ; 8 GPS RS232 in character timer1 ds 1 ; 9 RS232 loop timer msgBytes ds 1 ; A counts bytes within GPS message field bitCount ds 1 ; B LCD display loop temp ds 1 ; C DDMM decoding (and other places) pointer1 ds 1 ; D generic RAM pointer pointer2 ds 1 ; E me too i ds 1 ; F generic loop counter ; time and latitude characters org $10 bank_ten = $ latASCII = $10 ; lat: 10 ASCII "03749.2345" 0DDMM.MMMM format latEnd = $19 timeStart = $1A ; time: 6 characters HHMISS in 24:60:60 format timeEnd = $1F ; ; longitude, status and altitude chars org $30 bank_lonstat = $ lonASCII = $30 ; lon: 10 chars "12232.3580" DDDMM.MMMM format lonEnd = $39 altStart = $3A ; alt: from 0 to 5 chars "122.6" meters altEnd = $3F ; FIXME - should this be $3E? statusChar = $3F ; GPS status: one char ; ASCII-binary conversions and multiplier locations org $50 ; bank_math = $ multStart = $ ; this needs to precede the four "mult"s mult0 ds 1 ; 4 byte input to 1 x 4 multiply mult1 ds 1 ; (also used by subtract routine) mult2 ds 1 mult3 ds 1 accumStart = $ ; this needs to precede the 4 accums accum0 ds 1 ; 4 byte output from several math routines accum1 ds 1 accum2 ds 1 accum3 ds 1 eight ds 1 ; 1 byte input to 1 x 4 multiply routine counter ds 1 ; "counter" used in the multiply loop negFlag ds 1 ; set to 1 if subtraction is negative math0 ds 1 ; spares math1 ds 1 ; math2 ds 1 ; math3 ds 1 ; ; 1 unused byte ; 4 binary 4-byte locations lonToGoTo = $70 ; 4 bytes: lon to go to, binary lonAtStart = $74 ; 4 bytes: lon started from, binary latToGoTo = $78 ; 4 bytes: lat to go to, binary latAtStart = $7C ; 4 bytes: lat started from, binary ; speed and direction dirStart = $90 ; dir: 90 - 95 000.0 dirEnd = $95 ; FIXME is 95 or 96 good enuf? speedStart = $96 ; speed: 96 - 9B 0000.0 speedEnd = $9B ; ; 4? unused bytes in bank $90 ; decimal display org $B0 ; binary to decimal conversion area bank_toASCII = $ counter2 ds 1 hiBin ds 1 loBin ds 1 hiCmp ds 1 loCmp ds 1 fiveDigits = $ ; here begins 5 decimal digits digit5 ds 1 digit4 ds 1 digit3 ds 1 digit2 ds 1 digit1 ds 1 ; 6 unused bytes org $D0 ; unused space for 16 vars ; last bank has assorted stuff - timer vars, GPS msg counters, etc. org $F0 bank_assorted = $ ; F0 timer2 ds 1 ; F1 timer3 ds 1 ; F2 timer4 ds 1 ; F3 string ds 1 ; F4 vlongLow ds 1 ; F5 nybs ds 1 ; F6 hexByte ds 1 ; F7 msgLen ds 1 ; F8 count GPS chars per specific message msgType ds 1 ; F9 Position vs. Velocity GPS NMEA msg commaCount ds 1 ; FA detect fields within the NMEA msg screenToShow ds 1 ; FB toggle thru several screens as this incrs savedStart ds 1 ; FC flag for initial pos save charsPerLine ds 1 ; FD ; FE, FF unused space ;------------------------------------------------------- org 0 ;------------------------------------------------------- ; interrupt service routine (currently unused) ;------------------------------------------------------- isr reti ;------------------------------------------------------- ; main program ;------------------------------------------------------- start_point mode $0F ; prepare for configuring direction mode ; see pg. 144 SZ-key dev man mov !ra,#%11111110 ; only a0 outie; the rest innie mov !rb,#%11111111 ; all bs innies mode $0E ; prepare for configuring pull-up resistor mode mov !ra, #%0000 ; enable all port A pull-ups ; ; ; these not currently used; here for reference: ; mode $0D ; CMOS/TTL input (n/a when Schmidt used) ; mov !rb,#%00000000 ; set all to CMOS ; mode $0C ; schmidt trigger ; mov !rb,#%00000000 ; all schmidts enabled (pg. 59 and 140) ; mode $0B ; wake-up enable ; mov !rb,#%11111110 ; wake-up interrupt edge bit 4 (pin 1) ; mode $0A ; rising/falling: default falling edge ; mode $09 ; swap W, edge det status (pg. 61) ; mov !rb, %00000000 ; clear edge status ; (and store state in "w" reg) ;------------------------------------------------------- ; main loop ;------------------------------------------------------- main call @init call @hello ; call subtest ; call multTest ; call @binToASCIITest jmp @getGPSMsgGrp ; get GPS message; display to LCD jmp main ; End of main ;------------------------------------------------------- ; some strings shello dw 'Hello World! HaWaYa?',0 sline2 dw 'GPS LCD ver 04.19.04',0 nosync dw 'No signal',0 latToGo dw '03741.3430',0 lonToGo dw '12153.3754',0 ;------------------------------------------------------- ; Can't call a function located in the second half of any code page so ; compensate by using this jump table which can reference functions on any ; part of any page. ; This table must exist entirely in a first page half. ; If this grows too large, continue on the top half of other code pages. ; Check gps_lcd.lst: last table entry must be below $FF. "$B2" as of last check. init jmp @_init hello jmp @_hello getByte jmp @_getByte sendByte jmp @_sendByte sendSpace jmp @_sendSpace sendString jmp @_sendString clearScreen jmp @_clearScreen lcdLine1 jmp @_lcdLine1 lcdLine2 jmp @_lcdLine2 sendHexByte jmp @_sendHexByte hexNybble jmp @_hexNybble halfDelay jmp @_halfDelay delay9600 jmp @_delay9600 delay1ms jmp @_delay1ms delay100ms jmp @_delay100ms delay1sec jmp @_delay1sec longLow jmp @_longLow multiply32 jmp @_multiply32 subtract32 jmp @_subtract32 increment32 jmp @_increment32 copy32 jmp @_copy32 showHex32 jmp @_showHex32 shift32 jmp @_shift32 clearAccum jmp @_clearAccum multPreset jmp @_multPreset DDMMToBin jmp @_DDMMToBin Lat2Feet jmp @_Lat2Feet Lon2Feet jmp @_Lon2Feet loadLatLon jmp @_loadLatLon multTest jmp @_multTest latToBinTest jmp @_latToBinTest latSubTest jmp @_latSubTest binToASCII jmp @_binToASCII binToASCIITest jmp @_binToASCIITest showDirSpeed jmp @_showDirSpeed showDistHome jmp @_showDistHome showLatLon jmp @_showLatLon showTimeAlt jmp @_showTimeAlt padLine jmp @_padLine loader jmp @_loader ;------------------------------------------------------- _init ; to init the LCD, we need to set its bit low on power-up and ; keep it there for a second, otherwise the LCD driver goes into debug mode. mov ra, #0 ; initialize the LCD bit call @delay1sec bank bank_assorted ; set flag: not yet saved the mov savedStart, #0 ; initial position lat and lon mov FSR, #latASCII ; preset the lat hundreds digit to 0 so mov ISR, #'0' ; Lat "DD" can be processed like lon "DDD" retp ;-------------------------------------------------------------------- ; GPS-receive,parse,LCD-send section. ; These aren't calleable subroutines - they jump from code block to ; code block as individual RS232 characters arrive and are processed, ; then jump back to one of two re-entry points: ; 1. the top, just below here, to get a new message group, or ; 2. just below that, to get a new character of the current group. ;-------------------------------------------------------------------- getGPSMsgGrp ; Begin wait for a group of GPS NMEA messages. ; ; Once a second, the GPS sensor sends a series of the NMEA messages, ; then pauses for about 3/4 of a second. ; When this program is synchronized to the sensor, the code will ; wait here for the next message group to start to arrive. ; It will recieve all message group characters, process the received ; data, display information onto the LCD, then jump back here to wait ; for the next message group. ; On any errors, the code jumps back here to begin a fresh message group wait. bank bank_assorted clr msgLen ; length of single NMEA message. clr commaCount ; count fields within NMEA message group. mov FSR, #altStart ; preset the altitude. :loop1 mov IND, #' ' ; Altitude and speed are variable length. inc FSR ; when out of sync nothing arrives. cjb FSR, #altEnd, @:loop1 ; But when in sync, only the necessary number ; of chars arrive to describe the current value. mov FSR, #speedStart ; So if we go from 100 to 99 meters altitude, :loop2 mov IND, #'_' ; the "1" stays unless it is explicitly inc FSR ; written over. cjb FSR, #speedEnd, @:loop2 mov FSR, #dirStart ; preset direction. May be unnecessary. :loop3 mov IND, #'_' inc FSR cjb FSR, #dirEnd, @:loop3 call @longLow ; wait for long pause in received RS232 ;------------------------------------------------------- getGPSchar call @getByte ; get the next RS232 GPS character ; bank bank_assorted ; An NMEA GPS msg begins with "$" inc msgLen ; Count received chars in this msg. cjne RS232in, #'$', @parseMsg ; If not "$" then parser gets it. mov msgLen, #1 ; If is "$" then reset counter and jmp @getGPSchar ; wait for next char. ;------------------------------------------------------- parseMsg ; Use characters 2-6 to determine the message type. ; GPGGA: time, lat, lon, alt ; PGRMV: velocity N, E, Up ; PGRMT: status message always sent once per minute. not real interesting. ; GPRMC: absolute velocity and compass bearing ; GPVTG: maybe use this someday? ; ; Once we're past character 6, process the message body ; (except if over 80 then probably an error occurred, so reset.) cje msgLen, #2, @msgChar2 ; expect 'G' or 'P' cjbe msgLen, #5, @getGPSchar ; go get another char cje msgLen, #6, @msgChar6 ; expect 'A' or 'G' cjae msgLen, #80, @getGPSMsgGrp ; reset if count too big jmp @processChar ; on any other message position, ; let subroutine decide what to do. ;------------------------------------------------------- msgChar2 ; Verify that character 2 is either P or G. ; If G, set the message type to "P" for Position message. ; (will overwrite this if char 6 is also "G") cje RS232in, #'P', @getGPSchar ; may be info msg cjne RS232in, #'G', @getGPSMsgGrp ; by here, if not G, not ok. mov msgType, #'P' ; P for Position message jmp @getGPSchar ; and wait for the next character ;------------------------------------------------------- msgChar6 ; Verify that character 6 is either A (GPGGA) or G (GPVTG) cje RS232in, #'A', @getGPSchar ; OK; we have GPGGA cjne RS232in, #'G', @getGPSMsgGrp ; by here, if not G, not ok. mov msgType, #'V' ; V for GPVTG velocity type message jmp @getGPSchar ; go wait for the next character ;------------------------------------------------------- processChar ; if this character is data, then go process it. ; if it is a field separator then go process that. ; (ahh, the velocity message terminates the last field with "*", ; so it is a field separator in that case, also.) cje RS232in, #',', @field ; comma - go directly to "field"; cjne RS232in, #'*', @processData ; if not * then go process char. cjne msgType, #'V', @getGPSchar ; if * but not vel then get next gps, ; else fall into "field". ;------------------------------------------------------- field ; we have a field separator. ; Do two things: ; 1. prepare for a new field by incrementing commaCount and clearing msgBytes. ; 2. If we have received all the fields we're expecting (currently hex 16), ; (see half a page down for more description of the commaCounts), then ; skip the rest of the message group and display what we've got. ; Otherwise go get yet another GPS character. inc commaCount clr msgBytes cje commaCount, #$16, @doDisplay jmp @getGPSchar ;------------------------------------------------------- processData ; we have a data character. ; decide what to do based on the current commaCount. ; Note: let the commaCount manage the entire message group, based ; on the GPS sensor always sending the messages in the same order. ; Is this assumption warranted? It works so far... ; Otherwise would need to test both message type and commaCount... ; ; 1 2 3 4 5 6 7 8 9 A B C DE ; $GPGGA,205343,3749.9327,N,12232.3580,W,1,08,1.1,12.5,M,-28.0,M,,*42 ; $PGRMV,0.0,0.0,0.0*5C ; $PGRMT,GPS 25-LVC VER 2.50 ,P,P,R,R,P,,19,R*15 ; ; as of 3/28/04 no more PGRMV message. ; instead, configured GPS to send GPVTG (Track Made Good and Ground Speed) ; ; commas 1 2 3 4 5 6 7 8 ; or, if continuing the commaCount from the previous field... ; F 0 1 2 3 4 5 6 <- that is, 0x16 is the last expected comma. ; fields 1 2 3 4 5 ; $GPVTG, ,T, ,M, ,N, ,K *.. ; ; 1: true course: 000.0 to 359.0 degrees ; 2: magnetic course 000.0 to 359.0 ; 3: speed: 000.0 to 999.9 knots ; 4. speed: 0000.0 to 1851.8 kilometers per hour ; 5: mode - do I care? not sure, yet. ; when saving individual characters, detect field position by the count ; of the comma preceding the field. cje commaCount, #$01, @timeField ; 6 time chars cje commaCount, #$02, @latField ; 8 latitude chars cje commaCount, #$04, @lonField ; 9 longitude chars cje commaCount, #$06, @statusField ; 1 status char; cje commaCount, #$09, @altField ; 0 to 5 altitude chars cje commaCount, #$0F, @dirField ; 0 to 5 direction chars cje commaCount, #$15, @speedField ; 0 to 6 speed chars ; if no more fields are of interest then just go get another GPS character: jmp @getGPSchar ;------------------------------------------- ; Save characters into individual RAM banks. timeField ; always 6 characters: $10 to $15 mov FSR, #timeStart jmp @saveChar latField ; probably always 8 characters: $16 to $1D mov FSR, #latASCII ; GPS sends only 2 digits of lat degrees inc FSR ; so incr FSR once before using it jmp @saveChar lonField ; probably always 9 chars $30 to $38 mov FSR, #lonASCII jmp @saveChar statusField ; always 1 mov FSR, #statusChar jmp @saveChar altField ; varies from 0 to 4 or 5: $39 to $3D? mov FSR, #altStart jmp @saveChar dirField ; varies from 0 to 6 mov FSR, #dirStart jmp @saveChar speedField ; varies from 0 to 6 mov FSR, #speedStart jmp @saveChar ; add additional field storage here, if you want any saveChar ; saveChar: jump here with FSR containing the start address of ; the field that we're saving to. So if we add the current value ; of the msgBytes to the FSR, then we have the storage of this character ; within each field. Yeah, if more chars arrive than we're expecting ; then we'll overwrite some other value...Lets just see if that ever happens. ; (Oh no, a hacker could feed a virus in and hijack the project via field overflow!) add FSR, msgBytes mov IND, RS232in inc msgBytes jmp @getGPSchar ; go get the next char ;------------------------------------------------------- doDisplay ; Process and display information. ; The first time that a good set of satellite data is seen, ; save the latitude and longitude binary numbers. bank bank_assorted cje savedStart, #1, @:continue ; if 1 then already saved. bank bank_lonstat cjne statusChar, #'1', @:continue ; unless 1, sat data not good mov pointer1, #latASCII ; point to Latitude 0DDMM.MMMM call @DDMMToBin ; convert to binary mov pointer1, #accumStart ; and save mov pointer2, #latAtStart call @copy32 mov pointer1, #lonASCII ; point to Longitude DDDMM.MMMM call @DDMMToBin ; convert to binary mov pointer1, #accumStart ; and save mov pointer2, #lonAtStart call @copy32 bank bank_assorted ; OK, we've saved the mov savedStart, #1 ; starting location! :continue ; Toggle thru several screens; approximately 1 per second. ; ; 0: display current position and time ; 1: display elapsed time since first satellite sync ; 2: display distance from position of first satellite sync ; 3: (todo) display distance to programmed waypoint ; 4: display current velocity, compass heading bank bank_assorted inc screenToShow cjb screenToShow, #4, @showScreen ; "4" is total number of screens clr screenToShow showScreen: cje screenToShow, #0, @showLatLonspeed cje screenToShow, #1, @showLatLonDH ; cje screenToShow, #2, @showLatLonDH ; cje screenToShow, #3, @showLatLonDH cje screenToShow, #2, @showLatLonspeed cje screenToShow, #3, @showLatLonAlt ; cje screenToShow, #3, @showBinary ; Any individual screen display routine may optionally delay for some ; length of time, like a second or so, to better show its contents, ; before jumping back to wait for the next message group. ; This may cause the program to skip message groups. Ordinarily ; this should be no big deal - missing a group is always a possibility, ; and every GPS data processing routine must allow for this. ; But ideally we will be able to catch every group. ; ; Each of the screen display routines will conclude by jumping ; to wait for a new GPS message group as in the following jmp, ; shown just below, although this particular jmp should never ; be reached if the above screenToShow is working properly: jmp @getGPSMsgGrp ;------------------------------------------------------- showLatLonAlt ; On the top line show ASCII Latitude, Longitude. ; On the second line show the time and altitude (if in sync) call @lcdLine1 call @showLatLon call @lcdLine2 call @showTimeAlt jmp @getGPSMsgGrp ;------------------------------------------------------- showLatLonSpeed ; On the top line show ASCII Latitude, Longitude. ; On the second line show the speed and direction call @lcdLine1 call @showLatLon call @lcdLine2 call @showDirSpeed jmp @getGPSMsgGrp ;------------------------------------------------------- showLatLonDH ; On the top line show ASCII Latitude, Longitude. ; On the second line show the distance from the start. call @lcdLine1 call @showLatLon call @lcdLine2 call @showDistHome jmp @getGPSMsgGrp ;------------------------------------------------------- showBinary ; convert the current longitude and latitude to 4 byte integers ; representing 1/10000 of a minute, and display. call @clearScreen ; prepare the LCD to show results mov pointer1, #latASCII ; point (1 below) Latitude DDMM.MMMM call @DDMMToBin ; convert to binary call @lcdLine1 ; On the LCD top line... mov pointer1, #accumStart call @showHex32 ; show 4 hex bytes mov pointer1, #lonASCII ; point to Longitude DDDMM.MMMM call @DDMMToBin ; convert to binary call @lcdLine2 ; On the LCD bottom line... mov pointer1, #accumStart call @showHex32 ; show 4 hex bytes jmp @getGPSMsgGrp ; END of GPS receive message jump routines ; ;************************************************************************** ; code below are subroutines. ; general groups: ; ; Latitude, Longitude management group ; Math group ; LCD group ; RS232 group ; test routine group ; ;************************************************************************** ; Latitude, Longitude management group ; ;------------------------------------------------------- _showDistHome ; Display the distance in feet from first sync to the current LCD line. bank bank_assorted cjne savedStart, #1, @:continue mov pointer1, #latASCII ; point to Lat, cvrt to binary call @DDMMToBin ; and leave result in accumulator mov pointer1, #latAtStart ; copy original saved lat binary mov pointer2, #multStart ; to the other 4-byte register call @copy32 call @subtract32 ; get the diff... bank bank_math cje negFlag, #0, @:P0 ; test whether we're north or mov RS232out, #'N' ; south of the starting sync jmp @:P1 :P0 mov RS232out, #'S' :P1 call @sendByte ; display compass direction call @Lat2Feet ; convert difference to feet mov pointer1, #accumStart call @showHex32 ; show feet as 4 hex bytes call @sendSpace call @sendSpace mov pointer1, #lonASCII ; point to Lon, cvrt to binary call @DDMMToBin ; and leave result in accumulator mov pointer1, #lonAtStart ; copy original saved lon binary mov pointer2, #multStart ; to the other 4-byte register call @copy32 call @subtract32 ; get the diff... bank bank_math cje negFlag, #0, @:P2 ; test whether we're east or mov RS232out, #'W' ; west of the starting sync jmp @:P3 :P2 mov RS232out, #'E' :P3 call @sendByte ; display compass direction call @Lon2Feet ; convert difference to feet mov pointer1, #accumStart call @showHex32 ; show feet as 4 hex bytes call @sendSpace :continue retp ;------------------------------------------------------- _showLatLon ; Display the current latitude and Longitude to the current LCD line. mov FSR, #latASCII ; send 9 latitude chars inc FSR ; skip dummy "0" at lat beginning :loop1 mov RS232out, IND call @sendByte inc FSR cjbe FSR, #latEnd, @:loop1 call @sendSpace mov FSR, #lonASCII ; send 10 longitude characters :loop2 mov RS232out, IND call @sendByte inc FSR cjbe FSR, #lonEnd, @:loop2 retp ;------------------------------------------------------- _showDirSpeed ; Display the current direction and speed to the current LCD line. ; (if the status says we're not in sync then just report that and quit) bank bank_lonstat cjne statusChar, #'1', @saynosync mov RS232out, #'D' ; send dir label call @sendByte call @sendSpace mov i, #5 mov FSR, #dirStart ; send 6 dir chars :loop1 mov RS232out, IND call @sendByte inc FSR djnz i, @:loop1 call @sendSpace mov RS232out, #'S' ; send speed label call @sendByte call @sendSpace mov i, #6 mov FSR, #speedStart ; send ? speed characters :loop2 mov RS232out, IND call @sendByte inc FSR djnz i, @:loop2 call @padLine ; clear rest of line with spaces retp ;------------------------------------------------------- _showTimeAlt ; Show time and altitude. Time is always available, but if not ; in sync then alt is not available. mov FSR, #timeStart ; send 6 time characters :loop mov RS232out, IND call @sendByte inc FSR cjbe FSR, #timeEnd, @:loop showalt call @sendSpace mov RS232out, #'h' ; send height label call @sendByte call @sendSpace bank bank_lonstat cjne statusChar, #'1', @saynosync mov FSR, #altStart ; send 4 or so altitude characters :loop mov RS232out, IND call @sendByte inc FSR cjb FSR, #altEnd, @:loop call @padLine retp saynosync mov W, #nosync call @sendString call @padLine retp ;------------------------------------------------------- _Lat2Feet ; Enter with mult holding the binary of the latitude that ; we want to calculate distance from. ; Return with the accumulator containing the feet from the current ; latitude to the pointed-to latitude. ; negFlag set to 1 if we're South of the reference; 0 if North. ; one minute of Lat ~ 6072 feet; 6072/10000 = 0.6072; ~ 39/64 call @clearAccum bank bank_math mov eight, #$27 ; multiply by 39 (0x27), leaving the call @multiply32 ; product in the accumulator. bank bank_math mov eight, #6 ; divide by 64 by shifting 6 call @shift32 retp ;------------------------------------------------------- _Lon2Feet ; Enter with mult holding to the binary of the longitude that ; we want to calculate distance from. ; Return with the accumulator containing the feet from the current ; longitude to the pointed-to longitude. ; negFlag set to 1 if we're East of the reference; 0 if West. ; one min of Lon at 37 deg ~ 4790 feet; 4790/10000 = 0.4790; ~ 122/256 call @clearAccum bank bank_math mov eight, #$7A ; multiply by 122 (0x7A), leaving the call @multiply32 ; product in the accumulator. bank bank_math mov eight, #8 ; divide by 256 by shifting 8 call @shift32 retp ;------------------------------------------------------- _shift32 ; divide the 4 byte number at pointer1 by (2 to the power of (eight)) bank bank_math :divideby clc ; On rotate, carry bit would rotate rr accum3 ; into hi bit of mult3, which we rr accum2 ; don't want, so clear it. rr accum1 rr accum0 djnz eight, @:divideby retp ;------------------------------------------------------- _clearAccum bank bank_math ; prepare for a 4-byte by 1 byte clr accum0 ; multiplication. clr accum1 ; Don't touch the 4 "mult" bytes, clr accum2 ; because subtract has populated them. clr accum3 retp ;------------------------------------------------------- _DDMMToBin ; Convert a quantity in degrees, minutes and decimal minutes from ; 10 ASCII characters in the form DDDMM.MMMM to a 4 byte binary value ; representing ten-thousanths of a minute. (about 6 inches of distance ; when the DDMM is latitude or longitude). ; Call with "pointer1" pointing to the start of the DDDMM.MMMM to convert. ; results will be in the 4 byte accumulator. ; ; any advantage to moving the constants below to a code area lookup table? ; no, looks like would take as much work to set up each load as to ; simply load literals as below. call @clearAccum call @multPreset mov mult3, #$03 mov mult2, #$93 ; hundreds of degrees to minutes: x 6000 mov mult1, #$87 ; minutes to 1/10000 of minute: x 10,000 mov mult0, #$00 ; 600 000 000 = $03 93 87 00 call @multiply32 call @multPreset mov mult2, #$5B ; tens of degrees to minutes: x 600 mov mult1, #$8D ; minutes to 1/10000 of minute: x 10,000 mov mult0, #$80 ; 60 000 000 = $5B 8D 80 call @multiply32 call @multPreset mov mult2, #$09 ; degrees to minutes: x 60 mov mult1, #$27 ; minutes to 1/10000 of minute: x 10,000 mov mult0, #$C0 ; 600 000 = $09 27 C0 call @multiply32 call @multPreset mov mult2, #$01 mov mult1, #$86 ; tens of mins to 1/10000 of minute: x 100,000 mov mult0, #$A0 ; 100,000 = $01 86 A0 call @multiply32 call @multPreset mov mult1, #$27 ; minutes to 1/10000 of minute: x 10,000 mov mult0, #$10 ; 10,000 = $27 10 call @multiply32 inc pointer1 ; skip the decimal point call @multPreset mov mult1, #$03 ; tenths of minute to 1/10000 of minute: x 1000 mov mult0, #$E8 ; 1000 = $03 E8 call @multiply32 call @multPreset mov mult0, #$64 ; 100 = $64 call @multiply32 call @multPreset mov mult0, #$0A ; 10 = $0A call @multiply32 call @multPreset mov mult0, #$01 ; 1 call @multiply32 retp _multPreset mov FSR, pointer1 ; operate on the digit that "pointer" mov temp, IND ; currently is pointing to bank bank_math ; sub temp, #'0' ; Adjust ASCII to number mov eight, temp ; write to the single-byte multiplier loc mov mult3, #$00 ; these usually must be zero. When mov mult2, #$00 ; not, let the above prg overwrite 0. mov mult1, #$00 inc pointer1 retp ;************************************************************************** ; math subroutines ; ; multiply32 (eight) x (mult) -> (accum) ; increment32 (pointer1)++ ; subtract32 (abs(mult - accum)) -> accum; negFlag=1 if minus ; clear32 (pointer1) -> 0 ; showHex32 (pointer1 -> 8 hex nybbles -> LCD ; copy32 (pointer1) -> (pointer2) ; ; ;------------------------------------------------------- _multiply32 ; Multiply the 8 bit number in "eight" times the 32 bits in mult0-mult3, ; storing the result in the 4 accumulator bytes accum0-accum3. ; Uses "counter". ; This does not preclear the accumulator, so it can be used for repeated ; multiplications where the results all need to be accumulated together, ; so should call clearmult before its first use. bank bank_math mov counter, #8 multloop: rr eight ; move least bit of "eight" into carry register jnc @rotate ; if it's 0, don't do any adding clc add accum0, mult0 ; add byte 0... addb accum1, C ; then first add the carry bit into byte1, add accum1, mult1 ; then add the byte, making the byte 2 carry... addb accum2, C add accum2, mult2 addb accum3, C add accum3, mult3 rotate: clc ; When we rotate, the carry bit would rotate rl mult0 ; into the low bit of mult0, which we don't rl mult1 ; want, so clear it. rl mult2 rl mult3 djnz counter, @multloop retp ;------------------------------------------------------- _subtract32 ; Subtract 4 bytes: Absolute value(Mult - Accum) -> Mult. ; If the result is below zero then fix: invert and add 1, a la 2's complement, ; and set a "negative" flag. bank bank_math mov negFlag, #0 sub mult0, accum0 jc @:p1 inc accum1 :p1 sub mult1, accum1 jc @:p2 inc accum2 :p2 sub mult2, accum2 jc @:p3 inc accum3 :p3 sub mult3, accum3 jc @:done ; if result >= 0 then done. mov negFlag, #1 ; Otherwise, set negative flag not mult0 ; and twiddle the results to be not mult1 ; as if we subtracted mult from accum. not mult2 ; (NOT the 4 bytes, then add 1) not mult3 clc add mult0, #1 addb mult1, C addb mult2, C addb mult3, C :done retp ;------------------------------------------------------- _increment32 ; increment the pointed-to set of 4 bytes ; mainly for testing various 4-byte math routines mov FSR, pointer1 add ISR, #1 ; incr LSB, setting the carry bit appropriately inc FSR addb ISR, C ; if there's a carry bit then pass it along... inc FSR addb ISR, C ; and here... inc FSR addb ISR, C ; me, too. retp ;------------------------------------------------------- _copy32 ; copy values of 4 bytes starting at pointer1 to 4 bytes at pointer2 ; modifies pointer1, pointer2, temp mov i, #4 :loop mov FSR, pointer1 ; operate on the digit that "pointer" mov temp, IND ; currently is pointing to mov FSR, pointer2 ; operate on the digit that "pointer" mov IND, temp inc pointer1 inc pointer2 djnz i, :loop retp ;------------------------------------------------------- _showHex32 ; show contents of four bytes in hex pointed to by "pointer1". mov FSR, pointer1 inc FSR inc FSR inc FSR mov RS232out, ISR call @sendHexByte mov FSR, pointer1 inc FSR inc FSR mov RS232out, ISR call @sendHexByte mov FSR, pointer1 inc FSR mov RS232out, ISR call @sendHexByte mov FSR, pointer1 mov RS232out, ISR call @sendHexByte retp ;************************************************************************** ; LCD functions _hello call @clearScreen call @delay100ms call @lcdLine1 mov W, #shello call @sendString call @delay100ms call @lcdLine2 mov W, #sline2 call @sendString call @delay1sec retp ;--------------------------------------------------------- _sendHexByte ; write value, 0-255, in "RS232out", to LCD in two hex bytes. bank bank_assorted mov hexByte, RS232out ; save the value because "RS232out" mov nybs, hexByte ; is destroyed in hexNybble swap nybs call @hexNybble bank bank_assorted mov nybs, hexByte call @hexNybble retp _hexNybble and nybs, #$0F ; cvrt 4 bits to hex and send to LCD clc ; csa nybs, #$9 ; if > 9, skip jmp and do add. jmp @:label clc ; required if clearx is set add nybs, #$7 :label add nybs, #$30 mov RS232out, nybs call @sendByte ; send byte to the LCDisplay retp ;-------------------------------------------------- _sendString ; Send 0-terminated string of up to 20 chars to LCD bank bank_assorted mov string,w :loop mov w,string mov m,#0 iread ; reads value from 11-bit code address in M, W test w jnz @:send retp :send mov RS232out, w call @sendByte bank bank_assorted inc string jmp @:loop ;-------------------------------------------------- _clearScreen mov RS232out, #$FE call @sendByte mov RS232out, #$1 call @sendByte bank bank_assorted mov charsPerLine, #0 call @delay1ms retp ;-------------------------------------------------- _lcdLine1 mov RS232out, #$FE call @sendByte mov RS232out, #$80 call @sendByte bank bank_assorted mov charsPerLine, #0 retp ;-------------------------------------------------- _lcdLine2 mov RS232out, #$FE call @sendByte mov RS232out, #$C0 call @sendByte bank bank_assorted mov charsPerLine, #0 retp ;-------------------------------------------------- _sendSpace mov RS232out, #' ' call @sendByte retp ;-------------------------------------------------- _padLine bank bank_assorted :loop cjae charsPerLine, #20, @:done call @sendSpace jmp @:loop :done retp ;-------------------------------------------------- ;************************************************************************** ; delay functions _delay1sec bank bank_assorted mov timer4,#9 :loop call @delay100ms bank bank_assorted djnz timer4, @:loop retp ;-------------------------------------------------- _delay100ms bank bank_assorted mov timer3, #99 :loop call @delay1ms djnz timer3, @:loop retp ;-------------------------------------------------- _delay1ms bank bank_assorted mov timer2, #9 :loop call @delay9600 bank bank_assorted djnz timer2, @:loop retp ;-------------------------------------------------- ;************************************************************************** ; RS232 functions _longLow ; Loop until a GPS message arrives. ; method: loop over the time of about 2 characters, testing ; for a hi bit twice the 9600 baud bitrate. During this looping, ; if a high bit is ever detected, restart the loop from the beginning. bank bank_assorted mov vlongLow, #32 ; prepare for loop :loop call @halfDelay test rb.0 jnz @_longLow ; if ever a non-zero bit, getGPSMsgGrp. djnz vlongLow, @:loop retp ;------------------------------------------------------- _getByte ; wait for, then return an RS232 byte in the "RS232in" variable. bank bank_assorted test rb.0 ; spin until bit B0 goes high jz _getByte call @halfDelay ; wait til middle of start bit mov bitCount, #8 ; prepare for loop mov RS232in, #$0 ; and preset result :loop call @delay9600 ; wait for middle of data bit clc ; clear carry bit rr RS232in ; prepare result for receiving next bit test rb.0 ; have we received a one or a zero? jnz @:zerobt ; skip bitset if zero or RS232in, #$80 ; we got a one, so set hi bit of result byte :zerobt djnz bitCount, @:loop ; next bit ; done getting bits. call @delay9600 ; wait for middle of stop bit retp ; return "RS232in" ;----------------------------------------------------------- _sendByte ; Send the byte in "RS232out" to the LCD ; Destroys RS232out. mov bitCount, #8 setb ra.0 ; start bit call @delay9600 :loop snb RS232out.0 ; 8 data bits jmp @:sndhi setb ra.0 jmp @:done :sndhi clrb ra.0 :done rr RS232out call @delay9600 djnz bitCount, @:loop clrb ra.0 ; stop bit call @delay9600 mov temp, FSR ; count chars sent. Used for padding bank bank_assorted ; the LCD line with spaces to the end. inc charsPerLine mov FSR, temp retp ;----------------------------------------------------------- _delay9600 ; these are the fundamental delays for RS232, both send and receive. ; tuned via trial and error with what works to the LCD ; 215 10% ok, 205 ok, 200 ok, 198 10% ok, so use 206 call @halfDelay call @halfDelay retp _halfDelay mov timer1, #206 :loop djnz timer1, @:loop retp ; This is a version that works properly using a 50 mHz resonator ; instead of the 20 mHz crystal. (But don't like the additional ; current the SX needs: 80 mA - about double that of running at 20.) ; ;halfDelay ; mov timer1, #110 ;:loop1 djnz timer1, @:loop1 ;:loop2 djnz timer1, @:loop2 ;:loop3 djnz timer1, @:loop3 ; retp ;************************************************************************** ; test and experimental area ; ; what about a generic loader that uses pointer1 for where to load to, ; a zero-terminated string for what to load...? Any benefit? ; But a zero-terminated string can't load a zero. ; what about instead specifying number of bytes to load? ; _newLoadLatLon mov pointer1, latToGo mov pointer2, #latASCII mov i, #10 call @loader mov pointer1, lonToGo mov pointer2, #lonASCII mov i, #10 call @loader retp ;--------------------------------------------------------- _loader mov M, #0 mov FSR, pointer2 :loop mov W, pointer1 iread mov IND, W inc FSR inc pointer1 djnz i, @:loop retp ;---------------------------------------------------------- _loadLatLon mov FSR, #latASCII mov IND, #'0' inc FSR mov IND, #'3' inc FSR mov IND, #'7' inc FSR mov IND, #'4' inc FSR mov IND, #'1' inc FSR mov IND, #'.' inc FSR mov IND, #'3' inc FSR mov IND, #'5' inc FSR mov IND, #'5' inc FSR mov IND, #'7' mov FSR, #lonASCII mov IND, #'1' inc FSR mov IND, #'2' inc FSR mov IND, #'1' inc FSR mov IND, #'5' inc FSR mov IND, #'3' inc FSR mov IND, #'.' inc FSR mov IND, #'3' inc FSR mov IND, #'3' inc FSR mov IND, #'6' inc FSR mov IND, #'5' retp ;------------------------------------------------------- subtest ; test 4x4 subtracter by poking in values, timesing, displaying. :loop call @delay100ms call @delay100ms call @delay100ms call @delay100ms bank bank_math mov mult0, #4 mov mult1, #0 mov mult2, #0 mov mult3, #0 mov accum0, #2 mov accum1, #6 mov accum2, #0 mov accum3, #0 call @clearScreen call @lcdLine1 bank bank_math mov pointer1, #multStart call @showHex32 call @sendSpace bank bank_math mov pointer1, #accumStart call @showHex32 call @subtract32 ; mult - accum -> mult call @lcdLine2 bank bank_math mov pointer1, #multStart call @showHex32 call @sendSpace bank bank_math mov RS232out, negFlag call @sendHexByte jmp @:loop retp ;------------------------------------------------------- _multTest ; test 1x4 multiplier by poking in values, timesing, displaying. bank bank_math mov math0, #$01 :loope call @delay100ms call @delay100ms call @delay100ms bank bank_math mov mult0, #2 mov mult1, #0 mov mult2, #1 mov mult3, #0 mov accum0, #0 mov accum1, #0 mov accum2, #0 mov accum3, #0 inc math0 mov eight, math0 call @clearScreen call @lcdLine1 mov pointer1, #multStart call @showHex32 call @sendSpace bank bank_math mov RS232out, math0 call @sendHexByte call @multiply32 call @lcdLine2 mov pointer1, #accumStart call @showHex32 jmp @:loope retp ;------------------------------------------------------- _latToBinTest ; test latitude to binary conversion: 37 41.3557 -> 01 59 0E 35 call @loadLatLon ; write test lat + lon into "current" call @clearScreen call @lcdLine1 call @showLatLon ; outputs exactly 20 characters mov pointer1, #latASCII call @DDMMToBin ; convert to binary in accumulator call @lcdLine2 mov pointer1, #accumStart ; show what we've got: call @showHex32 retp ;------------------------------------------------------- _latSubTest ; test latitude subtraction call @loadLatLon ; write test lat + lon into "current" call @clearScreen call @lcdLine1 call @showLatLon ; outputs exactly 20 characters mov pointer1, #latASCII call @DDMMToBin ; convert to binary in accumulator mov pointer1, #accumStart mov pointer2, #multStart call @copy32 bank bank_math clc add mult0, #1 ; test: tweak one of the numbers: 1 00 stc sub mult0, #1 ; test other dir: 1 01 call @subtract32 call @lcdLine2 mov pointer1, #multStart ; show what we've got: call @showHex32 call @sendSpace bank bank_math mov RS232out, negFlag call @sendHexByte retp ;************************************************************************** ; Experimental area 51 _binToASCIITest ; Testing binToASCII ; ; 1. plug known numbers into hiBin, loBin ; 2. run the routine ; 3. send the 5 digit results to the LCD ; 4. pause half a second ; 5. increment the known numbers by 1, 2, 5, ... ; 6. goto 1 mov pointer1, #0 mov pointer2, #0 :loop call @delay100ms call @delay100ms bank bank_toASCII mov loBin, pointer1 mov hiBin, pointer2 call @binToASCII call @clearScreen call @lcdLine1 mov RS232out, pointer2 call @sendHexByte mov RS232out, pointer1 call @sendHexByte call @sendSpace bank bank_toASCII mov RS232out, digit5 call @sendByte bank bank_toASCII mov RS232out, digit4 call @sendByte bank bank_toASCII mov RS232out, digit3 call @sendByte bank bank_toASCII mov RS232out, digit2 call @sendByte bank bank_toASCII mov RS232out, digit1 call @sendByte add pointer1, #1 jnc @:loop add pointer2, #1 jmp @:loop retp ;------------------------------------------------------- _binToASCII ; take 2 bytes (hiBin, loBin) and convert to ASCII digits 65535 - 00000 ; Basically, think of the bytes as the decimal number. ; For example, if your number is less than 40000 but over 30000, ; then write "3", subtract 30000 from the number, and move on ; to do the same for the thousands place, the hundreds place, ... ; ; recent test: working perfectly for the first byte 0-255, but ; screws up beyond that. bank bank_toASCII ;---------------------------------------- Top of ten thousands loop mov counter2, #6 mov hiCmp, #$EA ; EA60 = 60000 mov loCmp, #$60 :tenThousands cjb hiBin, hiCmp, @:loopOn5 ; if number less than 60000, 50000, ... cjb loBin, loCmp, @:loopOn5 ; then subtract 10000 and test again. jmp @:emitDigit5 ; otherwise grab the digit and run... :loopOn5 sub loCmp, #$10 ; $2710 = 10000 jc @:p51 dec hiCmp :p51 sub hiCmp, #$27 djnz counter2, @:tenThousands :emitDigit5 add counter2, #'0' ; When we hit the number that this is mov digit5, counter2 ; not less than, then BINGO! the counter sub loBin, loCmp ; holds the digit we want! Subtract off jc @:p52 dec hiBin :p52 sub hiBin, hiCmp ; the 10000's place number and continue... ;--------------------------------------- Top of thousands loop mov counter2, #9 mov hiCmp, #$23 ; $2328 = 9000 mov loCmp, #$28 :thousands cjb hiBin, hiCmp, @:loopOn4 ; if this number is less than 9000, cjb loBin, loCmp, @:loopOn4 ; then subtract 1000 and test again. jmp @:emitDigit4 :loopOn4 sub loCmp, #$E8 ; $03E8 = 1000 jc @:p41 dec hiCmp :p41 sub hiCmp, #$03 djnz counter2, @:thousands :emitDigit4 add counter2, #'0' ; When we hit the number that this is mov digit4, counter2 ; not less than, then BINGO! the counter sub loBin, loCmp ; holds the digit we want! jc @:p42 dec hiBin :p42 sub hiBin, hiCmp ;---------------------------------------- Top of hundreds loop mov counter2, #9 mov hiCmp, #$03 ; $0384 = 900 mov loCmp, #$84 :hundreds cjb hiBin, hiCmp, @:loopOn3 ; if this number is less than 900, cjb loBin, loCmp, @:loopOn3 ; then subtract 100 and test again. jmp @:emitDigit3 :loopOn3 sub loCmp, #$64 jc @:p31 dec hiCmp :p31 ; sub hiCmp, #$00 ; $0064 = 100 djnz counter2, @:hundreds :emitDigit3 add counter2, #'0' ; When we hit the number that this is mov digit3, counter2 ; not less than, then BINGO! the counter sub loBin, loCmp ; holds the digit we want! jc @:p32 dec hiBin :p32 sub hiBin, hiCmp ;---------------------------------------- Top of tens loop mov counter2, #9 mov hiCmp, #$00 ; $005A = 90 mov loCmp, #$5A :tens cjb hiBin, hiCmp, @:loopOn2 ; if this number is less than 90, cjb loBin, loCmp, @:loopOn2 ; then subtract 10 and test again. jmp @:emitDigit2 :loopOn2 sub loCmp, #$A ; jc @:p21 ; dec hiCmp :p21 ; sub hiCmp, #$00 ; $000A = 10 djnz counter2, @:tens :emitDigit2 add counter2, #'0' ; When we hit the number that this is mov digit2, counter2 ; not less than, then BINGO! the counter sub loBin, loCmp ; holds the digit we want! jc @:p22 dec hiBin :p22 sub hiBin, hiCmp ;---------------------------------------- Top of Ones part add loBin, #'0' mov digit1, loBin retp ;------------------------------------------------------- ; ; some lookup data tables ; like, ; mov M, lat_table >> 8 ; put top 3 bits into M ; mov W, lat_table ; put bottom 8 bits into W ; IREAD ; read code memory into W ; mov ISR, W ; and move the result into the variable ;------------------------------------------------------- ;org $600 ;lat_table dw '03741.3557',0 ;lon_table dw '12153.3665',0 ; the end ; ;------------------------------------------------------- ; notes ; ; The GPS sensor has the capability to send maybe a dozen standard ; NMEA (G...) and proprietary Garmin (P...) message strings, like ; ; $GPGGA,205343,3749.9327,N,12232.3580,W,1,08,1.1,12.5,M,-28.0,M,,*42 ; $PGRMV,0.0,0.0,0.0*5C ; $PGRMT,GPS 25-LVC VER 2.50 ,P,P,R,R,P,,19,R*15 ; ; You program the GPS sensor to configure it to enable the messages you ; want at the baud rate you want, by writing a short ASCII configuration ; string into the sensor's RS232 input wire. ; Then, whenever the GPS sensor is powered up, it starts emitting groups of ; all enabled messages, once per second. ; It is up to the user to make sure that you don't enable more characters ; than may be sent in one second at the programmed baud rate. ; ; So once its configured, you send power into the GPS sensor, ; point it at the sky and receive RS232 out a wire. ; ;------------------------------------------------------- ; The LCD works like this. Send RS232 ASCII charscters and they are ; displayed on the LCD. ; RS232 control characters place the "cursor" at the start of line1, ; or line2, or anywhere in the displayable area, actually. ; Other control sequences will clear the screen, draw graphics, etc. ; ;---the end----------------------------------------------------
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