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' Compass_wpd_enabled.bs2
'
' Displays x (N/S) and y (W/E) axis measurements along with the direction the
' Compass Module is pointing, measured in degrees clockwise from north.
'
' THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF
' ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO
' THE IMPLIED WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
' PARTICULAR PURPOSE.
'
' Copyright (c) Microsoft Corporation. All rights reserved
'
' {$STAMP BS2}
' {$PBASIC 2.5}
' ============================================================================
' -----[ Pins/Constants/Variables ]-------------------------------------------
DinDout PIN 6 ' P6 transceives to/from Din/Dout
Clk PIN 5 ' P5 sends pulses to HM55B's Clk
En PIN 4 ' P4 controls HM55B's /EN(ABLE)
Reset CON %0000 ' Reset command for HM55B
Measure CON %1000 ' Start measurement command
Report CON %1100 ' Get status/axis values command
Ready CON %1100 ' 11 -> Done, 00 -> no errors
NegMask CON %1111100000000000 ' For 11-bit negative to 16-bits
x VAR Word ' x-axis data
y VAR Word ' y-axis data
status VAR Nib ' Status flags
angle VAR Word ' Store angle measurement
SensorID VAR Byte 'Sensor identifier = 5 for PIR
ElementSize VAR Byte 'Size (in bytes) of each element
ElementCount VAR Byte 'Count of elements in packet
Padding VAR Byte 'Padding for the 8-byte element
SensorID = 1
ElementSize = 1
ElementCount = 3 '3-bytes for compass data;
NewInterval VAR Word 'New interval requested by user
Interval VAR Word 'Interval value utlized by firmware
LFD CON $10 'Linefeed character
Interval = 200 '.20 of a second interval
NewInterval = 200
' -----[ Main Routine ]-------------------------------------------------------
Main:
GOSUB PollSensor 'Was motion detected?
GOSUB RetrieveInterval 'Retrieve units data
' -----[ Subroutines ]--------------------------------------------------------
Timeout:
SEROUT 16, 16468, [DEC1 SensorID, DEC1 ElementSize, DEC1 ElementCount, DEC3 angle, DEC5 Interval,LFD]
GOTO Main
PollSensor: ' Compass module subroutine
HIGH En: LOW En ' Send reset command to HM55B
SHIFTOUT DinDout,clk,MSBFIRST,[Reset\4]
HIGH En: LOW En ' HM55B start measurement command
SHIFTOUT DinDout,clk,MSBFIRST,[Measure\4]
status = 0 ' Clear previous status flags
DO ' Status flag checking loop
HIGH En: LOW En ' Measurement status command
SHIFTOUT DinDout,clk,MSBFIRST,[Report\4]
SHIFTIN DinDout,clk,MSBPOST,[Status\4] ' Get Status
LOOP UNTIL status = Ready ' Exit loop when status is ready
SHIFTIN DinDout,clk,MSBPOST,[x\11,y\11] ' Get x & y axis values
HIGH En ' Disable module
IF (y.BIT10 = 1) THEN y = y | NegMask ' Store 11-bits as signed word
IF (x.BIT10 = 1) THEN x = x | NegMask ' Repeat for other axis
angle = x ATN -y ' Convert x and y to brads
angle = angle */ 360 ' Convert brads to degrees
RETURN
RetrieveInterval:
SERIN 16, 16468, Interval, Timeout, [DEC NewInterval] 'Retrieve interval
IF NewInterval >= 10 AND NewInterval <= 60000 THEN
Interval = NewInterval
ENDIF
RETURN
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