.module findemo2.c --- 0000 .dbfile findemo2.c .area data 872B _servo_limits:: 872B .blkb 2 .area idata --- 0000 0258 .word 600 .area data --- 0002 .blkb 2 .area idata --- 0002 12C0 .word 4800 .area data --- 0004 .blkb 2 .area idata --- 0004 0258 .word 600 .area data --- 0006 .blkb 2 .area idata --- 0006 12C0 .word 4800 .area data --- 0008 .blkb 2 .area idata --- 0008 0258 .word 600 .area data --- 000A .blkb 2 .area idata --- 000A 12C0 .word 4800 .area data --- 000C .blkb 2 .area idata --- 000C 0258 .word 600 .area data --- 000E .blkb 2 .area idata --- 000E 12C0 .word 4800 .area data --- 0010 .blkb 2 .area idata --- 0010 0258 .word 600 .area data --- 0012 .blkb 2 .area idata --- 0012 12C0 .word 4800 .area data 873F _srv_lim_default:: 873F .blkb 1 .area idata --- 0014 01 .byte 1 .area text ; IX -> 0,x 8646 _SCI_isr:: 8646 .dbfile C:\ICCME\include/isrdecl.h 8646 .dbfunc SCI_isr 8646 .dbline 41 ; /******************************************************** ; * * ; * Title: demotwo.c * ; * Programmer: Andrew Sinclair (from code by A. Arroyo) * ; * Date: 27 July 2000 * ; * Version: 1.0 * ; * * ; * Description: * ; * A program for the MMPP robot to fire rocket engines. * ; * * ; ********************************************************/ ; ; ; /******************** Includes *************************/ ; #include ; #include ; #include ; #include ; #include ; #include ; #include ; /***************** End of Includes *********************/ ; ; ; /******************** Constants ************************/ ; #define BUMPER analog(3) ; /**************** End of Constants *********************/ ; ; void main(void) ; /********************** Main ***************************/ ; { ; char mirror, mask; ; ; init_analog(); ; init_clocktjp(); ; ; *(unsigned char *) 0x7000=0x00; /*Turn off outputs*/ ; mirror=0x00; /*Initialize mirror to same as outputs*/ ; ; /*Load rockets*/ ; /*Accelerate and then brake*/ 8646 L2: 8646 3B rti ; IX -> 0,x 8647 _SPI_isr:: 8647 .dbfunc SPI_isr 8647 .dbline 47 ; /*******************************************/ ; while(BUMPER<120); /*Press the bumper to continue the program*/ ; wait(10000); /*Wait time in ms*/ ; ; /*Acceleration*/ ; /*First Firing - bit 6*/ 8647 L3: 8647 3B rti ; IX -> 0,x 8648 _PAIE_isr:: 8648 .dbfunc PAIE_isr 8648 .dbline 53 ; mask=0x40; ; mirror=mirror|mask; ; *(unsigned char *) 0x7000=mirror; ; ; wait(1000); ; 8648 L4: 8648 3B rti ; IX -> 0,x 8649 _PAV_isr:: 8649 .dbfunc PAV_isr 8649 .dbline 59 ; /*Second Firing - bit 3*/ ; mask=0x08; ; mirror=mirror|mask; ; *(unsigned char *) 0x7000=mirror; ; ; wait(1000); 8649 L5: 8649 3B rti ; IX -> 0,x 864A _TOF_isr:: 864A .dbfunc TOF_isr 864A .dbline 65 ; ; /*Braking - bit 4*/ ; mask=0x10; ; mirror=mirror|mask; ; *(unsigned char *) 0x7000=mirror; ; 864A L6: 864A 3B rti ; IX -> 0,x 864B _TOC2_isr:: 864B .dbfunc TOC2_isr 864B .dbline 83 ; wait(3000); ; ; /*Turn off all bits*/ ; mask=0x00; ; mirror=mirror&mask; ; *(unsigned char *) 0x7000=mirror; ; /*************End of Accel&Brake********************/ ; ; /*Reload rockets*/ ; /*Accelerate and turn*/ ; /*******************************************/ ; while(BUMPER<120); ; wait(10000); ; ; /*Acceleration*/ ; mask=0x20; ; mirror=mirror|mask; ; *(unsigned char *) 0x7000=mirror; 864B L7: 864B 3B rti ; IX -> 0,x 864C _TOC3_isr:: 864C .dbfunc TOC3_isr 864C .dbline 89 ; ; wait(1000); ; ; /*Turn*/ ; mask=0x80; ; mirror=mirror|mask; 864C L8: 864C 3B rti ; IX -> 0,x 864D _TIC3_isr:: 864D .dbfunc TIC3_isr 864D .dbline 101 ; *(unsigned char *) 0x7000=mirror; ; ; wait(3000); ; ; /*Turn off all bits*/ ; mask=0x00; ; mirror=mirror&mask; ; *(unsigned char *) 0x7000=mirror; ; /*************End of Accel&Turn********************/ ; ; } ; /******************* End of Main ***********************/ 864D L9: 864D 3B rti ; IX -> 0,x 864E _TIC2_isr:: 864E .dbfunc TIC2_isr 864E .dbline 107 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 864E L10: 864E 3B rti ; IX -> 0,x 864F _TIC1_isr:: 864F .dbfunc TIC1_isr 864F .dbline 113 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 864F L11: 864F 3B rti ; IX -> 0,x 8650 _RTI_isr:: 8650 .dbfunc RTI_isr 8650 .dbline 119 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 8650 L12: 8650 3B rti ; IX -> 0,x 8651 _IRQ_isr:: 8651 .dbfunc IRQ_isr 8651 .dbline 125 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 8651 L13: 8651 3B rti ; IX -> 0,x 8652 _XIRQ_isr:: 8652 .dbfunc XIRQ_isr 8652 .dbline 131 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 8652 L14: 8652 3B rti ; IX -> 0,x 8653 _SWI_isr:: 8653 .dbfunc SWI_isr 8653 .dbline 137 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 8653 L15: 8653 3B rti ; IX -> 0,x 8654 _ILLOP_isr:: 8654 .dbfunc ILLOP_isr 8654 .dbline 143 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 8654 L16: 8654 3B rti ; IX -> 0,x 8655 _COP_isr:: 8655 .dbfunc COP_isr 8655 .dbline 149 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 8655 L17: 8655 3B rti ; IX -> 0,x 8656 _CLMON_isr:: 8656 .dbfunc CLMON_isr 8656 .dbline 155 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ 8656 L18: 8656 3B rti .area data 8740 _drew:: 8740 .blkw 1 .area idata --- 0015 0000 .word _interrupt_vectors .area text ; IX -> 0,x ; mask -> 2,x ; mirror -> 3,x 8657 _main:: 8657 BD85A5 jsr __enterb 865A 04 .byte 0x4 865B .dbfile findemo2.c 865B .dbfunc main 865B .dbline 34 865B BD813B jsr _init_analog 865E .dbline 35 865E BD8040 jsr _init_clocktjp 8661 .dbline 37 8661 7F7000 clr 0x7000 8664 .dbline 38 8664 6F03 clr 3,x 8666 L20: 8666 .dbline 43 8666 L21: 8666 CC0003 ldd #3 8669 BD8144 jsr _analog 866C 1A830078 cpd #120 8670 2DF4 blt L20 8672 .dbline 44 8672 CC2710 ldd #10000 8675 BD8085 jsr _wait 8678 .dbline 48 8678 C640 ldab #64 867A E702 stab 2,x 867C .dbline 49 867C E603 ldab 3,x 867E EA02 orab 2,x 8680 E703 stab 3,x 8682 .dbline 50 8682 E603 ldab 3,x 8684 F77000 stab 0x7000 8687 .dbline 52 8687 CC03E8 ldd #1000 868A BD8085 jsr _wait 868D .dbline 55 868D C608 ldab #8 868F E702 stab 2,x 8691 .dbline 56 8691 E603 ldab 3,x 8693 EA02 orab 2,x 8695 E703 stab 3,x 8697 .dbline 57 8697 E603 ldab 3,x 8699 F77000 stab 0x7000 869C .dbline 59 869C CC03E8 ldd #1000 869F BD8085 jsr _wait 86A2 .dbline 62 86A2 C610 ldab #16 86A4 E702 stab 2,x 86A6 .dbline 63 86A6 E603 ldab 3,x 86A8 EA02 orab 2,x 86AA E703 stab 3,x 86AC .dbline 64 86AC E603 ldab 3,x 86AE F77000 stab 0x7000 86B1 .dbline 66 86B1 CC0BB8 ldd #3000 86B4 BD8085 jsr _wait 86B7 .dbline 69 86B7 6F02 clr 2,x 86B9 .dbline 70 86B9 E603 ldab 3,x 86BB E402 andb 2,x 86BD E703 stab 3,x 86BF .dbline 71 86BF E603 ldab 3,x 86C1 F77000 stab 0x7000 86C4 L23: 86C4 .dbline 77 86C4 L24: 86C4 CC0003 ldd #3 86C7 BD8144 jsr _analog 86CA 1A830078 cpd #120 86CE 2DF4 blt L23 86D0 .dbline 78 86D0 CC2710 ldd #10000 86D3 BD8085 jsr _wait 86D6 .dbline 81 86D6 C620 ldab #32 86D8 E702 stab 2,x 86DA .dbline 82 86DA E603 ldab 3,x 86DC EA02 orab 2,x 86DE E703 stab 3,x 86E0 .dbline 83 86E0 E603 ldab 3,x 86E2 F77000 stab 0x7000 86E5 .dbline 85 86E5 CC03E8 ldd #1000 86E8 BD8085 jsr _wait 86EB .dbline 88 86EB C680 ldab #128 86ED E702 stab 2,x 86EF .dbline 89 86EF E603 ldab 3,x 86F1 EA02 orab 2,x 86F3 E703 stab 3,x 86F5 .dbline 90 86F5 E603 ldab 3,x 86F7 F77000 stab 0x7000 86FA .dbline 92 86FA CC0BB8 ldd #3000 86FD BD8085 jsr _wait 8700 .dbline 95 8700 6F02 clr 2,x 8702 .dbline 96 8702 E603 ldab 3,x 8704 E402 andb 2,x 8706 E703 stab 3,x 8708 .dbline 97 8708 E603 ldab 3,x 870A F77000 stab 0x7000 870D .dbline 100 870D L19: 870D 08 inx 870E 08 inx 870F 08 inx 8710 08 inx 8711 35 txs 8712 38 pulx 8713 39 rts .area bss 875D _timertjp:: 875D .blkb 2 875F _days:: 875F .blkb 2 8761 _hours:: 8761 .blkb 2 8763 _minutes:: 8763 .blkb 2 8765 _seconds:: 8765 .blkb 2 8767 _msec:: 8767 .blkb 2 8769 _servo_width:: 8769 .blkb 10