.module crap.c --- 0000 .dbfile crap.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .dbline 41 ; /************************************************************************************************************************ ; * Program: crap.c * ; * Description: This program was written to test the pneumatic * ; * valves and cylinders. It will prompt the user * ; * to select the desired function (manual or * ; * automatic positioning) and to select the desired * ; * characteristics of the PWM signal for the * ; * valves. * ; * Programmer: Scott Nortman * ; * Date: March 16, 2000 * ; ************************************************************************************************************************/ ; ; /**************************** Constants *********************************/ ; #define pulse_handler TOC2_isr ; #define valve_sensor analog(1) ; #define in 0 ; #define out 1 ; #define P 0 ; #define I 1 ; #define D 2 ; #define dt 4096 ; /**************************** End of Constants **************************/ ; ; /*************************** Interrupts *********************************/ ; ; /*************************** End of Interrupts **************************/ ; #pragma interrupt_handler TOC2_isr, RTI_isr; ; /************************** Includes ************************************/ ; #include ; #include ; #include ; #include ; #include ; /************************ End of includes *******************************/ ; ; /************************** Global Variables*****************************/ ; long duty_cycle; //duty_cycle in e clocks ; long period; //period in e clocks ; int desired_position; ; int error[3] = {0}; ; int k[3] = {500, 0, 0}; 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .dbline 47 ; ; /************************ End of Global Variables ***********************/ ; ; ; /************************** Function Declarations **********************/ ; 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .dbline 53 ; /******************** End of Function Declarations *********************/ ; ; ; /**************************** Main **************************************/ ; ; void main(void) 9815 L4: 9815 3B rti ; IX -> 0,x 9816 _PAV_isr:: 9816 .dbfunc PAV_isr 9816 .dbline 59 ; { ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; ; ; /* VT100 position cursor at (x,y) = (3,12) command is "\x1b[3;12H"*/ ; char place_home[]= "\x1b[1;1H"; /*Home*/ 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOF_isr:: 9817 .dbfunc TOF_isr 9817 .dbline 65 ; ; char place_text[] = "\x1b[10;1H";/*position for text to be entered*/ ; init_analog(); ; init_serial(); ; while(1){ ; duty_cycle = 500 * valve_sensor; 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TOC3_isr:: 9818 .dbfunc TOC3_isr 9818 .dbline 89 ; ; printf("%s", clear); ; printf("%s", place_home); ; ; printf("%d\n", duty_cycle); ; } ; } ; ; void TOC2_isr(void){ ; CLEAR_FLAG(TFLG1, 0x40); ; } ; ; void RTI_isr(void){ ; CLEAR_FLAG(TFLG2, 0x40); ; } ; } ; } ; } ; } ; } ; } ; } ; } ; } 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC3_isr:: 9819 .dbfunc TIC3_isr 9819 .dbline 101 ; } ; } ; } ; } ; } ; } ; } ; } ; } ; } ; } ; } 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC2_isr:: 981A .dbfunc TIC2_isr 981A .dbline 107 ; } ; } ; } ; } ; } ; } 981A L9: 981A 3B rti ; IX -> 0,x 981B _TIC1_isr:: 981B .dbfunc TIC1_isr 981B .dbline 113 ; } ; } ; } ; } ; } ; } 981B L10: 981B 3B rti ; IX -> 0,x 981C _IRQ_isr:: 981C .dbfunc IRQ_isr 981C .dbline 125 ; } ; } ; } ; } ; } ; } ; } ; } ; } ; } ; } ; } 981C L11: 981C 3B rti ; IX -> 0,x 981D _XIRQ_isr:: 981D .dbfunc XIRQ_isr 981D .dbline 131 ; } ; } ; } ; } ; } ; } 981D L12: 981D 3B rti ; IX -> 0,x 981E _SWI_isr:: 981E .dbfunc SWI_isr 981E .dbline 137 ; } ; } ; } ; } ; } ; } 981E L13: 981E 3B rti ; IX -> 0,x 981F _ILLOP_isr:: 981F .dbfunc ILLOP_isr 981F .dbline 143 ; } ; } ; } ; } ; } ; } 981F L14: 981F 3B rti ; IX -> 0,x 9820 _COP_isr:: 9820 .dbfunc COP_isr 9820 .dbline 149 ; } ; } ; } ; } ; } ; } 9820 L15: 9820 3B rti ; IX -> 0,x 9821 _CLMON_isr:: 9821 .dbfunc CLMON_isr 9821 .dbline 155 ; } ; } ; } ; } ; } ; } 9821 L16: 9821 3B rti .area data 98FD _drew:: 98FD .blkw 1 .area idata --- 0000 0000 .word _interrupt_vectors .area data 98FF _error:: 98FF .blkb 2 .area idata --- 0002 0000 .word 0 .area data --- 0004 .blkb 4 .area idata --- 0004 00000000 .byte 0,0,0,0 .area data 9905 _k:: 9905 .blkb 2 .area idata --- 0008 01F4 .word 500 .area data --- 000A .blkb 2 .area idata --- 000A 0000 .word 0 .area data --- 000C .blkb 2 .area idata --- 000C 0000 .word 0 .area text --- 000F L18: --- 000F 1B5B324A0400 .byte 27,91,50,'J,4,0 --- 0015 L19: --- 0015 1B5B313B314800 .byte 27,91,49,59,49,'H,0 --- 001C L20: --- 001C 1B5B31303B314800 .byte 27,91,49,48,59,49,'H,0 ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x ; place_text -> 5,x ; place_home -> 13,x ; clear -> 20,x 9837 _main:: 9837 BD86BA jsr __enterb 983A 9A .byte 0x9a 983B .dbfile crap.c 983B .dbfunc main 983B .dbline 56 983B EC00 ldd 0,x 983D C30014 addd #20 9840 18CE9822 ldy #L18 9844 3C pshx 9845 8F xgdx 9846 CC0006 ldd #6 9849 BD86A2 jsr __asgnblk 984C 38 pulx 984D .dbline 59 984D EC00 ldd 0,x 984F C3000D addd #13 9852 18CE9828 ldy #L19 9856 3C pshx 9857 8F xgdx 9858 CC0007 ldd #7 985B BD86A2 jsr __asgnblk 985E 38 pulx 985F .dbline 61 985F EC00 ldd 0,x 9861 C30005 addd #5 9864 18CE982F ldy #L20 9868 3C pshx 9869 8F xgdx 986A CC0008 ldd #8 986D BD86A2 jsr __asgnblk 9870 38 pulx 9871 .dbline 62 9871 BD813B jsr _init_analog 9874 .dbline 63 9874 BD8381 jsr _init_serial 9877 2053 bra L22 9879 L21: 9879 .dbline 65 9879 CC0001 ldd #1 987C BD8144 jsr _analog 987F ED02 std 2,x 9881 CC01F4 ldd #500 9884 1AEE02 ldy 2,x 9887 BD8669 jsr __muli 988A BD8987 jsr __d2lreg 988D 18CE9928 ldy #_duty_cycle 9891 BD8935 jsr __lreg2y 9894 .dbline 67 9894 EC00 ldd 0,x 9896 C30014 addd #20 9899 37 pshb 989A 36 psha 989B CC98EC ldd #L24 989E BD9442 jsr _printf 98A1 1838 puly 98A3 .dbline 68 98A3 EC00 ldd 0,x 98A5 C3000D addd #13 98A8 37 pshb 98A9 36 psha 98AA CC98EC ldd #L24 98AD BD9442 jsr _printf 98B0 1838 puly 98B2 .dbline 70 98B2 18CE9928 ldy #_duty_cycle 98B6 BD88F8 jsr __ly2reg 98B9 183C pshy 98BB 183C pshy 98BD 1830 tsy 98BF BD8935 jsr __lreg2y 98C2 CC98E8 ldd #L25 98C5 BD9442 jsr _printf 98C8 1838 puly 98CA 1838 puly 98CC .dbline 71 98CC L22: 98CC 20AB bra L21 98CE L17: 98CE 8F xgdx 98CF C3001A addd #26 98D2 8F xgdx 98D3 35 txs 98D4 38 pulx 98D5 39 rts ; IX -> 0,x 98D6 _TOC2_isr:: 98D6 .dbfunc TOC2_isr 98D6 .dbline 75 98D6 18CE1023 ldy #0x1023 98DA 181D00BF bclr 0,y,#0xbf 98DE .dbline 76 98DE L26: 98DE 3B rti ; IX -> 0,x 98DF _RTI_isr:: 98DF .dbfunc RTI_isr 98DF .dbline 79 98DF 18CE1025 ldy #0x1025 98E3 181D00BF bclr 0,y,#0xbf 98E7 .dbline 80 98E7 L27: 98E7 3B rti .area bss 9922 _desired_position:: 9922 .blkb 2 9924 _period:: 9924 .blkb 4 9928 _duty_cycle:: 9928 .blkb 4 992C _timertjp:: 992C .blkb 2 992E _days:: 992E .blkb 2 9930 _hours:: 9930 .blkb 2 9932 _minutes:: 9932 .blkb 2 9934 _seconds:: 9934 .blkb 2 9936 _msec:: 9936 .blkb 2 .area text --- 00D5 L25: --- 00D5 25640A00 .byte 37,'d,10,0 --- 00D9 L24: --- 00D9 257300 .byte 37,'s,0