.module findemo2.c .dbfile findemo2.c .area data _servo_limits:: .blkb 2 .area idata .word 600 .area data .blkb 2 .area idata .word 4800 .area data .blkb 2 .area idata .word 600 .area data .blkb 2 .area idata .word 4800 .area data .blkb 2 .area idata .word 600 .area data .blkb 2 .area idata .word 4800 .area data .blkb 2 .area idata .word 600 .area data .blkb 2 .area idata .word 4800 .area data .blkb 2 .area idata .word 600 .area data .blkb 2 .area idata .word 4800 .area data _srv_lim_default:: .blkb 1 .area idata .byte 1 .area text ; IX -> 0,x _SCI_isr:: .dbfile C:\ICCME\include/isrdecl.h .dbfunc SCI_isr .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*/ L2: rti ; IX -> 0,x _SPI_isr:: .dbfunc SPI_isr .dbline 47 ; /*******************************************/ ; while(BUMPER<120); /*Press the bumper to continue the program*/ ; wait(10000); /*Wait time in ms*/ ; ; /*Acceleration*/ ; /*First Firing - bit 6*/ L3: rti ; IX -> 0,x _PAIE_isr:: .dbfunc PAIE_isr .dbline 53 ; mask=0x40; ; mirror=mirror|mask; ; *(unsigned char *) 0x7000=mirror; ; ; wait(1000); ; L4: rti ; IX -> 0,x _PAV_isr:: .dbfunc PAV_isr .dbline 59 ; /*Second Firing - bit 3*/ ; mask=0x08; ; mirror=mirror|mask; ; *(unsigned char *) 0x7000=mirror; ; ; wait(1000); L5: rti ; IX -> 0,x _TOF_isr:: .dbfunc TOF_isr .dbline 65 ; ; /*Braking - bit 4*/ ; mask=0x10; ; mirror=mirror|mask; ; *(unsigned char *) 0x7000=mirror; ; L6: rti ; IX -> 0,x _TOC2_isr:: .dbfunc TOC2_isr .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; L7: rti ; IX -> 0,x _TOC3_isr:: .dbfunc TOC3_isr .dbline 89 ; ; wait(1000); ; ; /*Turn*/ ; mask=0x80; ; mirror=mirror|mask; L8: rti ; IX -> 0,x _TIC3_isr:: .dbfunc TIC3_isr .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 ***********************/ L9: rti ; IX -> 0,x _TIC2_isr:: .dbfunc TIC2_isr .dbline 107 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L10: rti ; IX -> 0,x _TIC1_isr:: .dbfunc TIC1_isr .dbline 113 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L11: rti ; IX -> 0,x _RTI_isr:: .dbfunc RTI_isr .dbline 119 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L12: rti ; IX -> 0,x _IRQ_isr:: .dbfunc IRQ_isr .dbline 125 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L13: rti ; IX -> 0,x _XIRQ_isr:: .dbfunc XIRQ_isr .dbline 131 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L14: rti ; IX -> 0,x _SWI_isr:: .dbfunc SWI_isr .dbline 137 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L15: rti ; IX -> 0,x _ILLOP_isr:: .dbfunc ILLOP_isr .dbline 143 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L16: rti ; IX -> 0,x _COP_isr:: .dbfunc COP_isr .dbline 149 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L17: rti ; IX -> 0,x _CLMON_isr:: .dbfunc CLMON_isr .dbline 155 ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ ; /******************* End of Main ***********************/ L18: rti .area data _drew:: .blkw 1 .area idata .word _interrupt_vectors .area text ; IX -> 0,x ; mask -> 2,x ; mirror -> 3,x _main:: jsr __enterb .byte 0x4 .dbfile findemo2.c .dbfunc main .dbline 34 jsr _init_analog .dbline 35 jsr _init_clocktjp .dbline 37 clr 0x7000 .dbline 38 clr 3,x L20: .dbline 43 L21: ldd #3 jsr _analog cpd #120 blt L20 .dbline 44 ldd #10000 jsr _wait .dbline 48 ldab #64 stab 2,x .dbline 49 ldab 3,x orab 2,x stab 3,x .dbline 50 ldab 3,x stab 0x7000 .dbline 52 ldd #1000 jsr _wait .dbline 55 ldab #8 stab 2,x .dbline 56 ldab 3,x orab 2,x stab 3,x .dbline 57 ldab 3,x stab 0x7000 .dbline 59 ldd #1000 jsr _wait .dbline 62 ldab #16 stab 2,x .dbline 63 ldab 3,x orab 2,x stab 3,x .dbline 64 ldab 3,x stab 0x7000 .dbline 66 ldd #3000 jsr _wait .dbline 69 clr 2,x .dbline 70 ldab 3,x andb 2,x stab 3,x .dbline 71 ldab 3,x stab 0x7000 L23: .dbline 77 L24: ldd #3 jsr _analog cpd #120 blt L23 .dbline 78 ldd #10000 jsr _wait .dbline 81 ldab #32 stab 2,x .dbline 82 ldab 3,x orab 2,x stab 3,x .dbline 83 ldab 3,x stab 0x7000 .dbline 85 ldd #1000 jsr _wait .dbline 88 ldab #128 stab 2,x .dbline 89 ldab 3,x orab 2,x stab 3,x .dbline 90 ldab 3,x stab 0x7000 .dbline 92 ldd #3000 jsr _wait .dbline 95 clr 2,x .dbline 96 ldab 3,x andb 2,x stab 3,x .dbline 97 ldab 3,x stab 0x7000 .dbline 100 L19: inx inx inx inx txs pulx rts .area bss _timertjp:: .blkb 2 _days:: .blkb 2 _hours:: .blkb 2 _minutes:: .blkb 2 _seconds:: .blkb 2 _msec:: .blkb 2 _servo_width:: .blkb 10