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.blkb 2 .area idata --- 026C 0000 .word 0 .area data 93F3 _calc_1ot:: 93F3 .blkb 1 .area idata --- 026E 00 .byte 0 .area data 93F4 _calc_1vl:: 93F4 .blkb 2 .area idata --- 026F 0000 .word 0 .area data 93F6 _calc_2ot:: 93F6 .blkb 1 .area idata --- 0271 00 .byte 0 .area data 93F7 _calc_2vl:: 93F7 .blkb 2 .area idata --- 0272 0000 .word 0 .area data 93F9 _calc_3ot:: 93F9 .blkb 1 .area idata --- 0274 00 .byte 0 .area data 93FA _calc_3vl:: 93FA .blkb 2 .area idata --- 0275 0000 .word 0 .area data 93FC _new_motor_num:: 93FC .blkb 1 .area idata --- 0277 00 .byte 0 .area data 93FD _new_motor_spd:: 93FD .blkb 2 .area idata --- 0278 0000 .word 0 .area data 93FF _comp_motor_spd:: 93FF .blkb 2 .area idata --- 027A 0000 .word 0 .area data 9401 _first_motor:: 9401 .blkb 1 .area idata --- 027C 00 .byte 0 .area data 9402 _same_motor:: 9402 .blkb 1 .area idata --- 027D 00 .byte 0 .area data 9403 _oc5_reg:: 9403 .blkb 2 .area idata --- 027E 0000 .word 0 .area data 9405 _oc5_1ot:: 9405 .blkb 1 .area idata --- 0280 00 .byte 0 .area data 9406 _oc5_1vl:: 9406 .blkb 2 .area idata --- 0281 0000 .word 0 .area data 9408 _oc5_2ot:: 9408 .blkb 1 .area idata --- 0283 00 .byte 0 .area data 9409 _oc5_2vl:: 9409 .blkb 2 .area idata --- 0284 0000 .word 0 .area data 940B _oc5_3ot:: 940B .blkb 1 .area idata --- 0286 00 .byte 0 .area data 940C _oc5_3vl:: 940C .blkb 2 .area idata --- 0287 0000 .word 0 .area data 940E _oc4_reg:: 940E .blkb 2 .area idata --- 0289 0000 .word 0 .area data 9410 _oc4_1ot:: 9410 .blkb 1 .area idata --- 028B 00 .byte 0 .area data 9411 _oc4_1vl:: 9411 .blkb 2 .area idata --- 028C 0000 .word 0 .area data 9413 _oc4_2ot:: 9413 .blkb 1 .area idata --- 028E 00 .byte 0 .area data 9414 _oc4_2vl:: 9414 .blkb 2 .area idata --- 028F 0000 .word 0 .area data 9416 _oc4_3ot:: 9416 .blkb 1 .area idata --- 0291 00 .byte 0 .area data 9417 _oc4_3vl:: 9417 .blkb 2 .area idata --- 0292 0000 .word 0 .area data 9419 _oc3_reg:: 9419 .blkb 2 .area idata --- 0294 0000 .word 0 .area data 941B _oc3_1ot:: 941B .blkb 1 .area idata --- 0296 00 .byte 0 .area data 941C _oc3_1vl:: 941C .blkb 2 .area idata --- 0297 0000 .word 0 .area data 941E _oc3_2ot:: 941E .blkb 1 .area idata --- 0299 00 .byte 0 .area data 941F _oc3_2vl:: 941F .blkb 2 .area idata --- 029A 0000 .word 0 .area data 9421 _oc3_3ot:: 9421 .blkb 1 .area idata --- 029C 00 .byte 0 .area data 9422 _oc3_3vl:: 9422 .blkb 2 .area idata --- 029D 0000 .word 0 .area data 9424 _oc2_reg:: 9424 .blkb 2 .area idata --- 029F 0000 .word 0 .area data 9426 _oc2_1ot:: 9426 .blkb 1 .area idata --- 02A1 00 .byte 0 .area data 9427 _oc2_1vl:: 9427 .blkb 2 .area idata --- 02A2 0000 .word 0 .area data 9429 _oc2_2ot:: 9429 .blkb 1 .area idata --- 02A4 00 .byte 0 .area data 942A _oc2_2vl:: 942A .blkb 2 .area idata --- 02A5 0000 .word 0 .area data 942C _oc2_3ot:: 942C .blkb 1 .area idata --- 02A7 00 .byte 0 .area data 942D _oc2_3vl:: 942D .blkb 2 .area idata --- 02A8 0000 .word 0 .area data 942F _x_preserve:: 942F .blkb 2 .area idata --- 02AA 0000 .word 0 .area data 9431 _mot_spd:: 9431 .blkb 1 .area idata --- 02AC 00 .byte 0 .area data 9432 _pwm_port:: 9432 .blkb 2 .area idata --- 02AD 5000 .word 20480 .area data 9434 _wave_period:: 9434 .blkb 2 .area idata --- 02AF EA60 .word -5536 .area data 9436 _RTIcount:: 9436 .blkb 1 .area idata --- 02B1 00 .byte 0 .area text ; IX -> 0,x 8143 _init_SCI:: 8143 .dbfile demoday.c 8143 .dbfunc init_SCI 8143 .dbline 171 ; /*----------------------------------------------------* ; *Program : demoday.c * ; *Version : HC!!-1.0 * ; *Programmer : Scott Kanowitz * ; *Contracter : Machine Intelligence Labroatory * ; * University of Florida * ; *Project : Pneuman * ; *Date : 3/19/2000 * ; *----------------------------------------------------* ; * Description : A program to run on the HC11 to * ; * control 8 cylinders via a PID * ; * controller and communicate with * ; * the host machine via serial line * ; *----------------------------------------------------*/ ; ; ; //#include ; #include ; #include ; #include ; #include ; ; /* Set up interrupt vectors (also at end) */ ; extern void _start(void); /* entry point in crt??.s */ ; ; ; #pragma interrupt_handler TOC2_isr ; #pragma interrupt_handler TOC3_isr ; #pragma interrupt_handler TOC4_isr ; #pragma interrupt_handler TOC5_isr ; #pragma interrupt_handler SCI_isr ; #pragma interrupt_handler RTI_isr ; ; ; ; #define DUMMY_ENTRY (void (*)(void))0xFFFF /*used as blank space in inpt vectors*/ ; #define COMMAND_LENGTH 7 //(start char) + (5 char command(ie C1150)) + (end char) ; #define START_CHAR 0x24 //corresponds to $ ; #define END_CHAR 0x23 //corresponds to # ; ; #define P 0 ; #define I 1 ; #define D 2 ; ; #define TOLERANCE 4 ; ; #define DIR_PORT *(unsigned char *)(0x4000) ; /*--------------------------------------------------* ; *Global variables * ; * * ; *--------------------------------------------------*/ ; //char cylinderNumber = 0; ; ; char Message = 0; ; char CommandPos = 0; ; char handleCommandFlag = 0; ; char Command[2* COMMAND_LENGTH]; ; ; char handleSampleFlag = 0; ; ; int cyl1_pstn = 0; ; int cyl2_pstn = 0; ; int cyl3_pstn = 0; ; int cyl4_pstn = 0; ; int cyl5_pstn = 0; ; int cyl6_pstn = 0; ; int cyl7_pstn = 0; ; int cyl8_pstn = 0; ; ; int cyl1_des = 100; ; int cyl2_des = 100; ; int cyl3_des = 100; ; int cyl4_des = 100; ; int cyl5_des = 100; ; int cyl6_des = 100; ; int cyl7_des = 100; ; int cyl8_des = 100; ; ; int error1[3] = {0, 0, 0}; ; int error2[3] = {0, 0, 0}; ; int error3[3] = {0, 0, 0}; ; int error4[3] = {0, 0, 0}; ; int error5[3] = {0, 0, 0}; ; int error6[3] = {0, 0, 0}; ; int error7[3] = {0, 0, 0}; ; int error8[3] = {0, 0, 0}; ; ; int K1[3] = {3, 0, 0}; ; int K2[3] = {3, 0, 0}; ; int K3[3] = {3, 0, 0}; ; int K4[3] = {3, 0, 0}; ; int K5[3] = {3, 0, 0}; ; int K6[3] = {3, 0, 0}; ; int K7[3] = {3, 0, 0}; ; int K8[3] = {3, 0, 0}; ; ; ; int motor1 =0; ; int motor2 =0; ; int motor3 =0; ; int motor4 =0; ; int motor5 =0; ; int motor6 =0; ; int motor7 =0; ; int motor8 =0; ; ; char calc_1ot =0; ; int calc_1vl =0; ; char calc_2ot =0; ; int calc_2vl =0; ; char calc_3ot =0; ; int calc_3vl =0; ; ; char new_motor_num = 0; ; int new_motor_spd = 0; ; int comp_motor_spd = 0; ; char first_motor = 0; ; char same_motor = 0; ; ; char *oc5_reg = 0; ; char oc5_1ot = 0; ; int oc5_1vl = 0; ; char oc5_2ot = 0; ; int oc5_2vl = 0; ; char oc5_3ot = 0; ; int oc5_3vl = 0; ; ; char *oc4_reg = 0; ; char oc4_1ot = 0; ; int oc4_1vl = 0; ; char oc4_2ot = 0; ; int oc4_2vl = 0; ; char oc4_3ot = 0; ; int oc4_3vl = 0; ; ; char *oc3_reg = 0; ; char oc3_1ot = 0; ; int oc3_1vl = 0; ; char oc3_2ot = 0; ; int oc3_2vl = 0; ; char oc3_3ot = 0; ; int oc3_3vl = 0; ; ; char *oc2_reg = 0; ; char oc2_1ot = 0; ; int oc2_1vl = 0; ; char oc2_2ot = 0; ; int oc2_2vl = 0; ; char oc2_3ot = 0; ; int oc2_3vl = 0; ; ; int x_preserve = 0; ; ; char mot_spd = 0; ; ; int pwm_port = 0x5000; ; ; int wave_period = 0xEA60; ; ; char RTIcount =0; ; ; ; /************************************************************ ; ; INITIALIZATION FUNCTIONS ; ; *************************************************************/ ; ; /* Set SCI for 9600, 8-n-1, TE, RE, and rx interrupt enabled, tx disabled */ ; void init_SCI(){ ; BAUD |= 0X30; 8143 18CE102B ldy #0x102b 8147 181C0030 bset 0,y,#48 814B .dbline 172 ; SCCR1 = 0X00; 814B 7F102C clr 0x102c 814E .dbline 173 ; SCCR2 |= 0X2C; 814E 18CE102D ldy #0x102d 8152 181C002C bset 0,y,#44 8156 .dbline 174 ; SCCR2 &= 0X7f; 8156 18CE102D ldy #0x102d 815A 181D0080 bclr 0,y,#0x80 815E .dbline 175 ; } 815E L2: 815E 39 rts ; IX -> 0,x 815F _init_pulse:: 815F 0F sei 8160 .dbfunc init_pulse 8160 .dbline 182 ; ; ; /* Set up oc2-5 to interrupt and dissconnect from pins*/ ; void init_pulse() ; { ; INTR_OFF(); ; CLEAR_BIT(TCTL1, 0xFF); //Disconnect all OCs from pins 8160 18CE1020 ldy #0x1020 8164 181D00FF bclr 0,y,#0xff 8168 .dbline 183 ; TOC2 = 3000; 8168 CC0BB8 ldd #3000 816B FD1018 std 0x1018 816E .dbline 184 ; TOC3 = TOC2+3000; //offset all the initial interrupt times ; vol 816E FC1018 ldd 0x1018 8171 C30BB8 addd #3000 8174 FD101A std 0x101a 8177 .dbline 185 ; TOC4 = TOC3+3000; ; vol 8177 FC101A ldd 0x101a 817A C30BB8 addd #3000 817D FD101C std 0x101c 8180 .dbline 186 ; TOC5 = TOC4+3000; ; vol 8180 FC101C ldd 0x101c 8183 C30BB8 addd #3000 8186 FD101E std 0x101e 8189 .dbline 187 ; SET_BIT(TMSK1, 0x78); //enable oc2-5 8189 18CE1022 ldy #0x1022 818D 181C0078 bset 0,y,#120 8191 .dbline 188 ; CLEAR_BIT(PACTL, 0x04); //Enable oc5 8191 18CE1026 ldy #0x1026 8195 181D0004 bclr 0,y,#0x4 8199 0E cli 819A .dbline 190 ; INTR_ON(); //turn on interrupts ; } 819A L3: 819A 39 rts ; IX -> 0,x 819B _init_RTI:: 819B .dbfunc init_RTI 819B .dbline 195 ; ; ; /* Initialize RTI to interrupt every 32.768ms */ ; void init_RTI() { ; PACTL |= 0X03; 819B 18CE1026 ldy #0x1026 819F 181C0003 bset 0,y,#3 81A3 .dbline 196 ; TMSK2 |= 0X40; 81A3 18CE1024 ldy #0x1024 81A7 181C0040 bset 0,y,#64 81AB .dbline 197 ; } 81AB L4: 81AB 39 rts ; IX -> 0,x ; mot_num -> 9,x ; new_duty -> 4,x 81AC _multvlve:: 81AC 37 pshb 81AD 36 psha 81AE 3C pshx 81AF 3C pshx 81B0 30 tsx 81B1 EF00 stx 0,x 81B3 .dbfunc multvlve 81B3 .dbline 208 ; ; ; /************************************************************ ; ; MULTVLVE function to set up duty_cycles ; ; *************************************************************/ ; ; void multvlve(int new_duty, char mot_num) ; { ; new_motor_spd = new_duty; 81B3 EC04 ldd 4,x 81B5 FD93FD std _new_motor_spd 81B8 .dbline 209 ; new_motor_num = mot_num; 81B8 E609 ldab 9,x 81BA F793FC stab _new_motor_num 81BD FF942F stx _x_preserve 81C0 F693FC ldab _new_motor_num 81C3 C101 cmpb #$01 81C5 2614 bne is_motor_2 81C7 FE93FD ldx _new_motor_spd 81CA FF93E3 stx _motor1 81CD FE93E5 ldx _motor2 81D0 FF93FF stx _comp_motor_spd 81D3 C601 ldab #$01 81D5 F79401 stab _first_motor 81D8 7E827D jmp calc_motor_times 81DB is_motor_2: 81DB C102 cmpb #$02 81DD 2612 bne is_motor_3 81DF FE93FD ldx _new_motor_spd 81E2 FF93E5 stx _motor2 81E5 FE93E3 ldx _motor1 81E8 FF93FF stx _comp_motor_spd 81EB 7F9401 clr _first_motor 81EE 7E827D jmp calc_motor_times 81F1 is_motor_3: 81F1 C103 cmpb #$03 81F3 2614 bne is_motor_4 81F5 FE93FD ldx _new_motor_spd 81F8 FF93E7 stx _motor3 81FB FE93E9 ldx _motor4 81FE FF93FF stx _comp_motor_spd 8201 C601 ldab #$01 8203 F79401 stab _first_motor 8206 7E827D jmp calc_motor_times 8209 is_motor_4: 8209 C104 cmpb #$04 820B 2612 bne is_motor_5 820D FE93FD ldx _new_motor_spd 8210 FF93E9 stx _motor4 8213 FE93E7 ldx _motor3 8216 FF93FF stx _comp_motor_spd 8219 7F9401 clr _first_motor 821C 7E827D jmp calc_motor_times 821F is_motor_5: 821F C105 cmpb #$05 8221 2614 bne is_motor_6 8223 FE93FD ldx _new_motor_spd 8226 FF93EB stx _motor5 8229 FE93ED ldx _motor6 822C FF93FF stx _comp_motor_spd 822F C601 ldab #$01 8231 F79401 stab _first_motor 8234 7E827D jmp calc_motor_times 8237 is_motor_6: 8237 C106 cmpb #$06 8239 2612 bne is_motor_7 823B FE93FD ldx _new_motor_spd 823E FF93ED stx _motor6 8241 FE93EB ldx _motor5 8244 FF93FF stx _comp_motor_spd 8247 7F9401 clr _first_motor 824A 7E827D jmp calc_motor_times 824D is_motor_7: 824D C107 cmpb #$07 824F 2614 bne is_motor_8 8251 FE93FD ldx _new_motor_spd 8254 FF93EF stx _motor7 8257 FE93F1 ldx _motor8 825A FF93FF stx _comp_motor_spd 825D C601 ldab #$01 825F F79401 stab _first_motor 8262 7E827D jmp calc_motor_times 8265 is_motor_8: 8265 C108 cmpb #$08 8267 2611 bne end_routine 8269 FE93FD ldx _new_motor_spd 826C FF93F1 stx _motor8 826F FE93EF ldx _motor7 8272 FF93FF stx _comp_motor_spd 8275 7F9401 clr _first_motor 8278 2003 bra calc_motor_times 827A end_routine: 827A 7E85A0 jmp multvlve_done 827D calc_motor_times: 827D 7F9402 clr _same_motor 8280 FE93FD ldx _new_motor_spd 8283 BC93FF cpx _comp_motor_spd 8286 2605 bne calc_motor_nequ 8288 8601 ldaa #$01 828A B79402 staa _same_motor 828D calc_motor_nequ: 828D BC9434 cpx _wave_period 8290 2603 bne calc_mot_con1 8292 7E8455 jmp clc_mot_40 8295 calc_mot_con1: 8295 8C0000 cpx #$0000 8298 2603 bne calc_mot_con2 829A 7E83BD jmp clc_mot_00 829D calc_mot_con2: 829D B69402 ldaa _same_motor 82A0 266C bne calc_motor_same 82A2 BC93FF cpx _comp_motor_spd 82A5 2303 bls clc_mot_les 82A7 7E8336 jmp clc_mot_gt 82AA clc_mot_les: 82AA FF93F4 stx _calc_1vl 82AD FC93FF ldd _comp_motor_spd 82B0 B393FD subd _new_motor_spd 82B3 FD93F7 std _calc_2vl 82B6 FC9434 ldd _wave_period 82B9 1AB393FF cpd _comp_motor_spd 82BD 271B beq clc_mot_lesc 82BF B393F7 subd _calc_2vl 82C2 B393F4 subd _calc_1vl 82C5 FD93FA std _calc_3vl 82C8 8603 ldaa #0b00000011 82CA B793F3 staa _calc_1ot 82CD 8602 ldaa #0b00000010 82CF B793F6 staa _calc_2ot 82D2 8600 ldaa #0b00000000 82D4 B793F9 staa _calc_3ot 82D7 7E84DA jmp calc_mot_fin 82DA clc_mot_lesc: 82DA B393FD subd _new_motor_spd 82DD 8303E8 subd #1000 82E0 FD93FA std _calc_3vl 82E3 CC03E8 ldd #1000 82E6 FD93F7 std _calc_2vl 82E9 B69401 ldaa _first_motor 82EC 2610 bne is_mot_lessc 82EE 8603 ldaa #0b00000011 82F0 B793F3 staa _calc_1ot 82F3 8601 ldaa #0b00000001 82F5 B793F9 staa _calc_3ot 82F8 B793F6 staa _calc_2ot 82FB 7E84DA jmp calc_mot_fin 82FE is_mot_lessc: 82FE 8603 ldaa #0b00000011 8300 B793F3 staa _calc_1ot 8303 8602 ldaa #0b00000010 8305 B793F9 staa _calc_3ot 8308 B793F6 staa _calc_2ot 830B 7E84DA jmp calc_mot_fin 830E calc_motor_same: 830E FC93FD ldd _new_motor_spd 8311 FD93F4 std _calc_1vl 8314 CC03E8 ldd #1000 8317 FD93F7 std _calc_2vl 831A FC9434 ldd _wave_period 831D B393F7 subd _calc_2vl 8320 B393F4 subd _calc_1vl 8323 FD93FA std _calc_3vl 8326 8603 ldaa #0b00000011 8328 B793F3 staa _calc_1ot 832B 8600 ldaa #$00000000 832D B793F9 staa _calc_3ot 8330 B793F6 staa _calc_2ot 8333 7E84DA jmp calc_mot_fin 8336 clc_mot_gt: 8336 FC93FF ldd _comp_motor_spd 8339 1A830000 cpd #$00 833D 2741 beq clc_mot_gtr0 833F FD93F4 std _calc_1vl 8342 FC93FD ldd _new_motor_spd 8345 B393FF subd _comp_motor_spd 8348 FD93F7 std _calc_2vl 834B FC9434 ldd _wave_period 834E B393F7 subd _calc_2vl 8351 B393F4 subd _calc_1vl 8354 FD93FA std _calc_3vl 8357 B69401 ldaa _first_motor 835A 2612 bne is_mot_gtrc 835C 8603 ldaa #0b00000011 835E B793F3 staa _calc_1ot 8361 8602 ldaa #0b00000010 8363 B793F6 staa _calc_2ot 8366 8600 ldaa #0b00000000 8368 B793F9 staa _calc_3ot 836B 7E84DA jmp calc_mot_fin 836E is_mot_gtrc: 836E 8603 ldaa #0b00000011 8370 B793F3 staa _calc_1ot 8373 8601 ldaa #0b00000001 8375 B793F6 staa _calc_2ot 8378 8600 ldaa #0b00000000 837A B793F9 staa _calc_3ot 837D 7E84DA jmp calc_mot_fin 8380 clc_mot_gtr0: 8380 FC93FD ldd _new_motor_spd 8383 FD93F4 std _calc_1vl 8386 CC03E8 ldd #1000 8389 FD93F7 std _calc_2vl 838C FC9434 ldd _wave_period 838F B393F7 subd _calc_2vl 8392 B393F4 subd _calc_1vl 8395 FD93FA std _calc_3vl 8398 B69401 ldaa _first_motor 839B 2610 bne is_mot_gtrcc 839D 8602 ldaa #0b00000010 839F B793F3 staa _calc_1ot 83A2 8600 ldaa #0b00000000 83A4 B793F9 staa _calc_3ot 83A7 B793F6 staa _calc_2ot 83AA 7E84DA jmp calc_mot_fin 83AD is_mot_gtrcc: 83AD 8601 ldaa #0b00000001 83AF B793F3 staa _calc_1ot 83B2 8600 ldaa #0b00000000 83B4 B793F9 staa _calc_3ot 83B7 B793F6 staa _calc_2ot 83BA 7E84DA jmp calc_mot_fin 83BD clc_mot_00: 83BD B69402 ldaa _same_motor 83C0 2643 bne both_zero 83C2 FC93FF ldd _comp_motor_spd 83C5 1AB39434 cpd _wave_period 83C9 2760 beq clc_mot_0040 83CB FD93F4 std _calc_1vl 83CE CC03E8 ldd #1000 83D1 FD93F7 std _calc_2vl 83D4 FC9434 ldd _wave_period 83D7 B393F7 subd _calc_2vl 83DA B393F4 subd _calc_1vl 83DD FD93FA std _calc_3vl 83E0 B69401 ldaa _first_motor 83E3 2610 bne is_mot_00 83E5 8601 ldaa #0b00000001 83E7 B793F3 staa _calc_1ot 83EA 8600 ldaa #0b00000000 83EC B793F9 staa _calc_3ot 83EF B793F6 staa _calc_2ot 83F2 7E84DA jmp calc_mot_fin 83F5 is_mot_00: 83F5 8602 ldaa #0b00000010 83F7 B793F3 staa _calc_1ot 83FA 8600 ldaa #0b00000000 83FC B793F9 staa _calc_3ot 83FF B793F6 staa _calc_2ot 8402 7E84DA jmp calc_mot_fin 8405 both_zero: 8405 8600 ldaa #0b00000000 8407 B793F3 staa _calc_1ot 840A B793F6 staa _calc_2ot 840D B793F9 staa _calc_3ot 8410 CC03E8 ldd #1000 8413 FD93F4 std _calc_1vl 8416 CC03E8 ldd #1000 8419 FD93F7 std _calc_2vl 841C FC9434 ldd _wave_period 841F B393F7 subd _calc_2vl 8422 B393F4 subd _calc_1vl 8425 FD93FA std _calc_3vl 8428 7E84DA jmp calc_mot_fin 842B clc_mot_0040: 842B CC03E8 ldd #1000 842E FD93F4 std _calc_1vl 8431 FD93F7 std _calc_2vl 8434 FC9434 ldd _wave_period 8437 B393F4 subd _calc_1vl 843A B393F7 subd _calc_2vl 843D FD93FA std _calc_3vl 8440 8602 ldaa #0b00000010 8442 F69401 ldab _first_motor 8445 2602 bne is_mot_0040 8447 8601 ldaa #0b00000001 8449 is_mot_0040: 8449 B793F3 staa _calc_1ot 844C B793F6 staa _calc_2ot 844F B793F9 staa _calc_3ot 8452 7E84DA jmp calc_mot_fin 8455 clc_mot_40: 8455 B69402 ldaa _same_motor 8458 265A bne both_40000 845A FC93FF ldd _comp_motor_spd 845D 1A830000 cpd #$0000 8461 2603 bne clc_mot_40c 8463 CC03E8 ldd #1000 8466 clc_mot_40c: 8466 FD93F4 std _calc_1vl 8469 CC03E8 ldd #1000 846C FD93F7 std _calc_2vl 846F FC9434 ldd _wave_period 8472 B393F7 subd _calc_2vl 8475 B393F4 subd _calc_1vl 8478 FD93FA std _calc_3vl 847B B69401 ldaa _first_motor 847E 261A bne is_mot_40 8480 8603 ldaa #0b00000011 8482 FE93FF ldx _comp_motor_spd 8485 8C0000 cpx #$0000 8488 2602 bne clc_mot_40cc 848A 8602 ldaa #0b00000010 848C clc_mot_40cc: 848C B793F3 staa _calc_1ot 848F 8602 ldaa #0b00000010 8491 B793F9 staa _calc_3ot 8494 B793F6 staa _calc_2ot 8497 7E84DA jmp calc_mot_fin 849A is_mot_40: 849A 8603 ldaa #0b00000011 849C FE93FF ldx _comp_motor_spd 849F 8C0000 cpx #$0000 84A2 2602 bne is_mot_40c 84A4 8601 ldaa #0b00000001 84A6 is_mot_40c: 84A6 B793F3 staa _calc_1ot 84A9 8601 ldaa #0b00000001 84AB B793F9 staa _calc_3ot 84AE B793F6 staa _calc_2ot 84B1 7E84DA jmp calc_mot_fin 84B4 both_40000: 84B4 CC03E8 ldd #1000 84B7 FD93F4 std _calc_1vl 84BA CC03E8 ldd #1000 84BD FD93F7 std _calc_2vl 84C0 FC9434 ldd _wave_period 84C3 B393F7 subd _calc_2vl 84C6 B393F4 subd _calc_1vl 84C9 FD93FA std _calc_3vl 84CC 8603 ldaa #0b00000011 84CE B793F3 staa _calc_1ot 84D1 B793F6 staa _calc_2ot 84D4 B793F9 staa _calc_3ot 84D7 7E84DA jmp calc_mot_fin 84DA calc_mot_fin: 84DA 18CE9426 ldy #_oc2_1ot 84DE B693FC ldaa _new_motor_num 84E1 8101 cmpa #$01 84E3 2716 beq jmp_calc_motor_done 84E5 8102 cmpa #$02 84E7 2712 beq jmp_calc_motor_done 84E9 8103 cmpa #$03 84EB 2761 beq calc_motor_34 84ED 8104 cmpa #$04 84EF 275D beq calc_motor_34 84F1 8105 cmpa #$05 84F3 2734 beq calc_motor_56 84F5 8106 cmpa #$06 84F7 2730 beq calc_motor_56 84F9 2003 bra calc_motor_78 84FB jmp_calc_motor_done: 84FB 7E856A jmp calc_motor_done 84FE calc_motor_78: 84FE B693F3 ldaa _calc_1ot 8501 48 lsla 8502 48 lsla 8503 48 lsla 8504 48 lsla 8505 48 lsla 8506 48 lsla 8507 B793F3 staa _calc_1ot 850A B693F6 ldaa _calc_2ot 850D 48 lsla 850E 48 lsla 850F 48 lsla 8510 48 lsla 8511 48 lsla 8512 48 lsla 8513 B793F6 staa _calc_2ot 8516 B693F9 ldaa _calc_3ot 8519 48 lsla 851A 48 lsla 851B 48 lsla 851C 48 lsla 851D 48 lsla 851E 48 lsla 851F B793F9 staa _calc_3ot 8522 18CE9405 ldy #_oc5_1ot 8526 7E856A jmp calc_motor_done 8529 calc_motor_56: 8529 B693F3 ldaa _calc_1ot 852C 48 lsla 852D 48 lsla 852E 48 lsla 852F 48 lsla 8530 B793F3 staa _calc_1ot 8533 B693F6 ldaa _calc_2ot 8536 48 lsla 8537 48 lsla 8538 48 lsla 8539 48 lsla 853A B793F6 staa _calc_2ot 853D B693F9 ldaa _calc_3ot 8540 48 lsla 8541 48 lsla 8542 48 lsla 8543 48 lsla 8544 B793F9 staa _calc_3ot 8547 18CE9410 ldy #_oc4_1ot 854B 7E856A jmp calc_motor_done 854E calc_motor_34: 854E B693F3 ldaa _calc_1ot 8551 48 lsla 8552 48 lsla 8553 B793F3 staa _calc_1ot 8556 B693F6 ldaa _calc_2ot 8559 48 lsla 855A 48 lsla 855B B793F6 staa _calc_2ot 855E B693F9 ldaa _calc_3ot 8561 48 lsla 8562 48 lsla 8563 B793F9 staa _calc_3ot 8566 18CE941B ldy #_oc3_1ot 856A calc_motor_done: 856A CE93F3 ldx #_calc_1ot 856D A600 ldaa 0,x 856F 18A700 staa 0,y 8572 08 inx 8573 1808 iny 8575 EC00 ldd 0,x 8577 18ED00 std 0,y 857A 08 inx 857B 08 inx 857C 1808 iny 857E 1808 iny 8580 A600 ldaa 0,x 8582 18A700 staa 0,y 8585 08 inx 8586 1808 iny 8588 EC00 ldd 0,x 858A 18ED00 std 0,y 858D 08 inx 858E 08 inx 858F 1808 iny 8591 1808 iny 8593 A600 ldaa 0,x 8595 18A700 staa 0,y 8598 08 inx 8599 1808 iny 859B EC00 ldd 0,x 859D 18ED00 std 0,y 85A0 multvlve_done: 85A0 FE942F ldx _x_preserve 85A3 .dbline 644 ; ; ; asm("stx _x_preserve\n" ; "ldab _new_motor_num\n" ; "cmpb #$01\n" ; "bne is_motor_2\n" ; "ldx _new_motor_spd\n" ; "stx _motor1\n" ; "ldx _motor2\n" ; "stx _comp_motor_spd\n" ; "ldab #$01\n" ; "stab _first_motor\n" ; "jmp calc_motor_times\n" ; "is_motor_2:\n" ; "cmpb #$02\n" ; "bne is_motor_3\n" ; "ldx _new_motor_spd\n" ; "stx _motor2\n" ; "ldx _motor1\n" ; "stx _comp_motor_spd\n" ; "clr _first_motor\n" ; "jmp calc_motor_times"); ; asm("is_motor_3:\n" ; "cmpb #$03\n" ; "bne is_motor_4\n" ; "ldx _new_motor_spd\n" ; "stx _motor3\n" ; "ldx _motor4\n" ; "stx _comp_motor_spd\n" ; "ldab #$01\n" ; "stab _first_motor\n" ; "jmp calc_motor_times\n" ; "is_motor_4:\n" ; "cmpb #$04\n" ; "bne is_motor_5\n" ; "ldx _new_motor_spd\n" ; "stx _motor4\n" ; "ldx _motor3\n" ; "stx _comp_motor_spd\n" ; "clr _first_motor\n" ; "jmp calc_motor_times"); ; asm("is_motor_5:\n" ; "cmpb #$05\n" ; "bne is_motor_6\n" ; "ldx _new_motor_spd\n" ; "stx _motor5\n" ; "ldx _motor6\n" ; "stx _comp_motor_spd\n" ; "ldab #$01\n" ; "stab _first_motor\n" ; "jmp calc_motor_times\n" ; "is_motor_6:\n" ; "cmpb #$06\n" ; "bne is_motor_7\n" ; "ldx _new_motor_spd\n" ; "stx _motor6\n" ; "ldx _motor5\n" ; "stx _comp_motor_spd\n" ; "clr _first_motor\n" ; "jmp calc_motor_times"); ; asm("is_motor_7:\n" ; "cmpb #$07\n" ; "bne is_motor_8\n" ; "ldx _new_motor_spd\n" ; "stx _motor7\n" ; "ldx _motor8\n" ; "stx _comp_motor_spd\n" ; "ldab #$01\n" ; "stab _first_motor\n" ; "jmp calc_motor_times\n" ; "is_motor_8:\n" ; "cmpb #$08\n" ; "bne end_routine\n" ; "ldx _new_motor_spd\n" ; "stx _motor8\n" ; "ldx _motor7\n" ; "stx _comp_motor_spd\n" ; "clr _first_motor\n" ; "bra calc_motor_times\n"); ; asm("end_routine:\n" ; "jmp multvlve_done\n" ; "calc_motor_times:\n" ; "clr _same_motor\n" ; "ldx _new_motor_spd\n" ; "cpx _comp_motor_spd\n" ; "bne calc_motor_nequ\n" ; "ldaa #$01\n" ; "staa _same_motor\n" ; "calc_motor_nequ:\n" ; "cpx _wave_period\n" ; "bne calc_mot_con1\n" ; "jmp clc_mot_40\n" ; "calc_mot_con1:\n" ; "cpx #$0000\n" ; "bne calc_mot_con2\n" ; "jmp clc_mot_00"); ; asm("calc_mot_con2:\n" ; "ldaa _same_motor\n" ; "bne calc_motor_same\n" ; "cpx _comp_motor_spd\n" ; "bls clc_mot_les\n" ; "jmp clc_mot_gt\n" ; "clc_mot_les:\n" ; "stx _calc_1vl\n" ; "ldd _comp_motor_spd\n" ; "subd _new_motor_spd\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "cpd _comp_motor_spd\n" ; "beq clc_mot_lesc\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "ldaa #0b00000011\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000010\n" ; "staa _calc_2ot\n" ; "ldaa #0b00000000\n" ; "staa _calc_3ot\n" ; "jmp calc_mot_fin"); ; asm("clc_mot_lesc:\n" ; "subd _new_motor_spd\n" ; "subd #1000\n" ; "std _calc_3vl\n" ; "ldd #1000\n" ; "std _calc_2vl\n" ; "ldaa _first_motor\n" ; "bne is_mot_lessc\n" ; "ldaa #0b00000011\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000001\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin\n" ; "is_mot_lessc:\n" ; "ldaa #0b00000011\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000010\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin"); ; asm("calc_motor_same:\n" ; "ldd _new_motor_spd\n" ; "std _calc_1vl\n" ; "ldd #1000\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "ldaa #0b00000011\n" ; "staa _calc_1ot\n" ; "ldaa #$00000000\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin"); ; asm("clc_mot_gt:\n" ; "ldd _comp_motor_spd\n" ; "cpd #$00\n" ; "beq clc_mot_gtr0\n" ; "std _calc_1vl\n" ; "ldd _new_motor_spd\n" ; "subd _comp_motor_spd\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "ldaa _first_motor\n" ; "bne is_mot_gtrc\n" ; "ldaa #0b00000011\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000010\n" ; "staa _calc_2ot\n" ; "ldaa #0b00000000\n" ; "staa _calc_3ot\n" ; "jmp calc_mot_fin") ; asm("is_mot_gtrc:\n" ; "ldaa #0b00000011\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000001\n" ; "staa _calc_2ot\n" ; "ldaa #0b00000000\n" ; "staa _calc_3ot\n" ; "jmp calc_mot_fin\n" ; "clc_mot_gtr0:\n" ; "ldd _new_motor_spd\n" ; "std _calc_1vl\n" ; "ldd #1000\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "ldaa _first_motor\n" ; "bne is_mot_gtrcc\n" ; "ldaa #0b00000010\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000000\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin"); ; asm("is_mot_gtrcc:\n" ; "ldaa #0b00000001\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000000\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin\n" ; "clc_mot_00:\n" ; "ldaa _same_motor\n" ; "bne both_zero\n" ; "ldd _comp_motor_spd\n" ; "cpd _wave_period\n" ; "beq clc_mot_0040\n" ; "std _calc_1vl\n" ; "ldd #1000\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "ldaa _first_motor\n" ; "bne is_mot_00\n" ; "ldaa #0b00000001\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000000\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin"); ; asm("is_mot_00:\n" ; "ldaa #0b00000010\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000000\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin\n" ; "both_zero:\n" ; "ldaa #0b00000000\n" ; "staa _calc_1ot\n" ; "staa _calc_2ot\n" ; "staa _calc_3ot\n" ; "ldd #1000\n" ; "std _calc_1vl\n" ; "ldd #1000\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "jmp calc_mot_fin\n" ; "clc_mot_0040:\n" ; "ldd #1000\n" ; "std _calc_1vl\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_1vl\n" ; "subd _calc_2vl\n" ; "std _calc_3vl\n" ; "ldaa #0b00000010\n" ; "ldab _first_motor\n" ; "bne is_mot_0040\n" ; "ldaa #0b00000001"); ; asm("is_mot_0040:\n" ; "staa _calc_1ot\n" ; "staa _calc_2ot\n" ; "staa _calc_3ot\n" ; "jmp calc_mot_fin\n" ; "clc_mot_40:\n" ; "ldaa _same_motor\n" ; "bne both_40000\n" ; "ldd _comp_motor_spd\n" ; "cpd #$0000\n" ; "bne clc_mot_40c\n" ; "ldd #1000\n" ; "clc_mot_40c:\n" ; "std _calc_1vl\n" ; "ldd #1000\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "ldaa _first_motor\n" ; "bne is_mot_40\n" ; "ldaa #0b00000011\n" ; "ldx _comp_motor_spd\n" ; "cpx #$0000\n" ; "bne clc_mot_40cc\n" ; "ldaa #0b00000010\n" ; "clc_mot_40cc:\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000010\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin"); ; asm("is_mot_40:\n" ; "ldaa #0b00000011\n" ; "ldx _comp_motor_spd\n" ; "cpx #$0000\n" ; "bne is_mot_40c\n" ; "ldaa #0b00000001\n" ; "is_mot_40c:\n" ; "staa _calc_1ot\n" ; "ldaa #0b00000001\n" ; "staa _calc_3ot\n" ; "staa _calc_2ot\n" ; "jmp calc_mot_fin\n" ; "both_40000:\n" ; "ldd #1000\n" ; "std _calc_1vl\n" ; "ldd #1000\n" ; "std _calc_2vl\n" ; "ldd _wave_period\n" ; "subd _calc_2vl\n" ; "subd _calc_1vl\n" ; "std _calc_3vl\n" ; "ldaa #0b00000011\n" ; "staa _calc_1ot\n" ; "staa _calc_2ot\n" ; "staa _calc_3ot\n" ; "jmp calc_mot_fin"); ; asm("calc_mot_fin:\n" ; "ldy #_oc2_1ot\n" ; "ldaa _new_motor_num\n" ; "cmpa #$01\n" ; "beq jmp_calc_motor_done\n" ; "cmpa #$02\n" ; "beq jmp_calc_motor_done\n" ; "cmpa #$03\n" ; "beq calc_motor_34\n" ; "cmpa #$04\n" ; "beq calc_motor_34\n" ; "cmpa #$05\n" ; "beq calc_motor_56\n" ; "cmpa #$06\n" ; "beq calc_motor_56\n" ; "bra calc_motor_78\n" ; "jmp_calc_motor_done:\n" ; "jmp calc_motor_done"); ; asm("calc_motor_78:\n" ; "ldaa _calc_1ot\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_1ot\n" ; "ldaa _calc_2ot\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_2ot\n" ; "ldaa _calc_3ot\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_3ot\n" ; "ldy #_oc5_1ot\n" ; "jmp calc_motor_done"); ; asm("calc_motor_56:\n" ; "ldaa _calc_1ot\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_1ot\n" ; "ldaa _calc_2ot\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_2ot\n" ; "ldaa _calc_3ot\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_3ot\n" ; "ldy #_oc4_1ot\n" ; "jmp calc_motor_done"); ; asm("calc_motor_34:\n" ; "ldaa _calc_1ot\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_1ot\n" ; "ldaa _calc_2ot\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_2ot\n" ; "ldaa _calc_3ot\n" ; "lsla\n" ; "lsla\n" ; "staa _calc_3ot\n" ; "ldy #_oc3_1ot\n" ; "calc_motor_done:\n" ; "ldx #_calc_1ot\n" ; "ldaa 0,x\n" ; "staa 0,y\n" ; "inx\n" ; "iny\n" ; "ldd 0,x\n" ; "std 0,y\n" ; "inx\n" ; "inx\n" ; "iny\n" ; "iny\n" ; "ldaa 0,x\n" ; "staa 0,y\n" ; "inx\n" ; "iny\n" ; "ldd 0,x\n" ; "std 0,y\n" ; "inx\n" ; "inx\n" ; "iny\n" ; "iny\n" ; "ldaa 0,x\n" ; "staa 0,y\n" ; "inx\n" ; "iny\n" ; "ldd 0,x\n" ; "std 0,y\n" ; "multvlve_done:\n" ; "ldx _x_preserve"); ; ; ; } 85A3 L5: 85A3 08 inx 85A4 08 inx 85A5 35 txs 85A6 38 pulx 85A7 1838 puly 85A9 39 rts ; IX -> 0,x ; ?temp -> 2,x ; ?temp -> 4,x ; ?temp -> 6,x ; ?temp -> 8,x ; ?temp -> 10,x ; ?temp -> 12,x ; ?temp -> 14,x ; ?temp -> 16,x ; ?temp -> 18,x ; ?temp -> 20,x ; ?temp -> 22,x ; ?temp -> 24,x ; ?temp -> 26,x ; ?temp -> 28,x ; ?temp -> 30,x ; ?temp -> 32,x ; derivative -> 34,x ; integral -> 36,x ; proportion -> 38,x ; new_duty -> 40,x 85AA _pid_controller:: 85AA BD80A2 jsr __enterb 85AD 2A .byte 0x2a 85AE .dbfunc pid_controller 85AE .dbline 655 ; ; /********************************************************/ ; /*pid_controller() */ ; /*function contains all the pid routines to update */ ; /*the duty cycles */ ; /* */ ; /********************************************************/ ; ; void pid_controller(void){ ; ; int proportion = 0; 85AE CC0000 ldd #0 85B1 ED26 std 38,x 85B3 .dbline 656 ; int integral = 0; 85B3 CC0000 ldd #0 85B6 ED24 std 36,x 85B8 .dbline 657 ; int derivative = 0; 85B8 CC0000 ldd #0 85BB ED22 std 34,x 85BD .dbline 658 ; int new_duty = 0; 85BD CC0000 ldd #0 85C0 ED28 std 40,x 85C2 .dbline 664 ; ; ; //Run pid for cylinder 1 ; ; //shift error values ; error1[2] = error1[1]; 85C2 FC9385 ldd _error1+2 85C5 FD9387 std _error1+4 85C8 .dbline 665 ; error1[1] = error1[0]; 85C8 FC9383 ldd _error1 85CB FD9385 std _error1+2 85CE .dbline 666 ; error1[0] = cyl1_des - cyl1_pstn; 85CE FC9373 ldd _cyl1_des 85D1 B39363 subd _cyl1_pstn 85D4 FD9383 std _error1 85D7 .dbline 669 ; ; //range for tolerance ; if (error1[0] < TOLERANCE & error1[0] > 0 - TOLERANCE){ 85D7 FC9383 ldd _error1 85DA 1A830004 cpd #4 85DE 2C07 bge L14 85E0 CC0001 ldd #1 85E3 ED20 std 32,x 85E5 2005 bra L15 85E7 L14: 85E7 CC0000 ldd #0 85EA ED20 std 32,x 85EC L15: 85EC FC9383 ldd _error1 85EF 1A83FFFC cpd #-4 85F3 2F07 ble L16 85F5 CC0001 ldd #1 85F8 ED1E std 30,x 85FA 2005 bra L17 85FC L16: 85FC CC0000 ldd #0 85FF ED1E std 30,x 8601 L17: 8601 EC20 ldd 32,x 8603 A41E anda 30,x 8605 E41F andb 31,x 8607 1A830000 cpd #0 860B 2715 beq L10 860D .dbline 670 ; error1[0] = 0; 860D CC0000 ldd #0 8610 FD9383 std _error1 8613 .dbline 671 ; multvlve(0, 0x01); 8613 CC0001 ldd #1 8616 37 pshb 8617 36 psha 8618 CC0000 ldd #0 861B BD81AC jsr _multvlve 861E 1838 puly 8620 .dbline 672 ; } 8620 205E bra L11 8622 L10: 8622 .dbline 676 ; else { //run pid ; ; //calc gains ; proportion = K1[P] * error1[0]; 8622 FC93B3 ldd _K1 8625 18FE9383 ldy _error1 8629 BD8069 jsr __muli 862C ED26 std 38,x 862E .dbline 681 ; //integral = K1[I]; ; //derivative = K1[D] * (error1[0] - error1[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 862E EC26 ldd 38,x 8630 E324 addd 36,x 8632 E322 addd 34,x 8634 ED28 std 40,x 8636 .dbline 684 ; ; ; if (error1[0] < 0) { 8636 FC9383 ldd _error1 8639 2C0A bge L18 863B .dbline 685 ; DIR_PORT &= 0xFE; 863B 18CE4000 ldy #0x4000 863F 181D0001 bclr 0,y,#0x1 8643 .dbline 686 ; } 8643 2008 bra L19 8645 L18: 8645 .dbline 688 ; else { ; DIR_PORT |= 0x01; 8645 18CE4000 ldy #0x4000 8649 181C0001 bset 0,y,#1 864D .dbline 689 ; } 864D L19: 864D .dbline 692 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 864D EC28 ldd 40,x 864F 2C09 bge L20 8651 EC28 ldd 40,x 8653 830001 subd #1 8656 43 coma 8657 53 comb 8658 ED28 std 40,x 865A .dbline 698 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 865A L20: 865A .dbline 700 ; //range new_duty to max value ; if (new_duty > 236){ 865A EC28 ldd 40,x 865C 1A8300EC cpd #236 8660 2F05 ble L22 8662 .dbline 701 ; new_duty = 236; 8662 CC00EC ldd #236 8665 ED28 std 40,x 8667 .dbline 702 ; } 8667 L22: 8667 .dbline 704 ; ; new_duty = pwm_vals[new_duty]; 8667 EC28 ldd 40,x 8669 05 lsld 866A C39185 addd #_pwm_vals 866D 188F xgdy 866F 18EC00 ldd 0,y 8672 ED28 std 40,x 8674 .dbline 707 ; ; ; multvlve(new_duty, 0x01); 8674 CC0001 ldd #1 8677 37 pshb 8678 36 psha 8679 EC28 ldd 40,x 867B BD81AC jsr _multvlve 867E 1838 puly 8680 .dbline 709 ; ; } 8680 L11: 8680 .dbline 714 ; ; //Run pid for cylinder 2 ; ; //shift error values ; error2[2] = error2[1]; 8680 FC938B ldd _error2+2 8683 FD938D std _error2+4 8686 .dbline 715 ; error2[1] = error2[0]; 8686 FC9389 ldd _error2 8689 FD938B std _error2+2 868C .dbline 716 ; error2[0] = cyl2_des - cyl2_pstn; 868C FC9375 ldd _cyl2_des 868F B39365 subd _cyl2_pstn 8692 FD9389 std _error2 8695 .dbline 719 ; ; //range for tolerance ; if (error2[0] < TOLERANCE & error2[0] > 0 - TOLERANCE){ 8695 FC9389 ldd _error2 8698 1A830004 cpd #4 869C 2C07 bge L31 869E CC0001 ldd #1 86A1 ED1C std 28,x 86A3 2005 bra L32 86A5 L31: 86A5 CC0000 ldd #0 86A8 ED1C std 28,x 86AA L32: 86AA FC9389 ldd _error2 86AD 1A83FFFC cpd #-4 86B1 2F07 ble L33 86B3 CC0001 ldd #1 86B6 ED1A std 26,x 86B8 2005 bra L34 86BA L33: 86BA CC0000 ldd #0 86BD ED1A std 26,x 86BF L34: 86BF EC1C ldd 28,x 86C1 A41A anda 26,x 86C3 E41B andb 27,x 86C5 1A830000 cpd #0 86C9 2715 beq L27 86CB .dbline 720 ; error2[0] = 0; 86CB CC0000 ldd #0 86CE FD9389 std _error2 86D1 .dbline 721 ; multvlve(0, 0x02); 86D1 CC0002 ldd #2 86D4 37 pshb 86D5 36 psha 86D6 CC0000 ldd #0 86D9 BD81AC jsr _multvlve 86DC 1838 puly 86DE .dbline 722 ; } 86DE 205E bra L28 86E0 L27: 86E0 .dbline 726 ; else { //run pid ; ; //calc gains ; proportion = K2[P] * error2[0]; 86E0 FC93B9 ldd _K2 86E3 18FE9389 ldy _error2 86E7 BD8069 jsr __muli 86EA ED26 std 38,x 86EC .dbline 731 ; //integral = K2[I]; ; //derivative = K2[D] * (error2[0] - error2[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 86EC EC26 ldd 38,x 86EE E324 addd 36,x 86F0 E322 addd 34,x 86F2 ED28 std 40,x 86F4 .dbline 734 ; ; ; if (error2[0] < 0) { 86F4 FC9389 ldd _error2 86F7 2C0A bge L35 86F9 .dbline 735 ; DIR_PORT &= 0xFD; 86F9 18CE4000 ldy #0x4000 86FD 181D0002 bclr 0,y,#0x2 8701 .dbline 736 ; } 8701 2008 bra L36 8703 L35: 8703 .dbline 738 ; else { ; DIR_PORT |= 0x02; 8703 18CE4000 ldy #0x4000 8707 181C0002 bset 0,y,#2 870B .dbline 739 ; } 870B L36: 870B .dbline 742 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 870B EC28 ldd 40,x 870D 2C09 bge L37 870F EC28 ldd 40,x 8711 830001 subd #1 8714 43 coma 8715 53 comb 8716 ED28 std 40,x 8718 .dbline 748 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 8718 L37: 8718 .dbline 750 ; //range new_duty to max value ; if (new_duty > 236){ 8718 EC28 ldd 40,x 871A 1A8300EC cpd #236 871E 2F05 ble L39 8720 .dbline 751 ; new_duty = 236; 8720 CC00EC ldd #236 8723 ED28 std 40,x 8725 .dbline 752 ; } 8725 L39: 8725 .dbline 754 ; ; new_duty = pwm_vals[new_duty]; 8725 EC28 ldd 40,x 8727 05 lsld 8728 C39185 addd #_pwm_vals 872B 188F xgdy 872D 18EC00 ldd 0,y 8730 ED28 std 40,x 8732 .dbline 757 ; ; ; multvlve(new_duty, 0x02); 8732 CC0002 ldd #2 8735 37 pshb 8736 36 psha 8737 EC28 ldd 40,x 8739 BD81AC jsr _multvlve 873C 1838 puly 873E .dbline 759 ; ; } 873E L28: 873E .dbline 765 ; ; ; //Run pid for cylinder 3 ; ; //shift error values ; error3[2] = error3[1]; 873E FC9391 ldd _error3+2 8741 FD9393 std _error3+4 8744 .dbline 766 ; error3[1] = error3[0]; 8744 FC938F ldd _error3 8747 FD9391 std _error3+2 874A .dbline 767 ; error3[0] = cyl3_des - cyl3_pstn; 874A FC9377 ldd _cyl3_des 874D B39367 subd _cyl3_pstn 8750 FD938F std _error3 8753 .dbline 770 ; ; //range for tolerance ; if (error3[0] < TOLERANCE & error3[0] > 0 - TOLERANCE){ 8753 FC938F ldd _error3 8756 1A830004 cpd #4 875A 2C07 bge L48 875C CC0001 ldd #1 875F ED18 std 24,x 8761 2005 bra L49 8763 L48: 8763 CC0000 ldd #0 8766 ED18 std 24,x 8768 L49: 8768 FC938F ldd _error3 876B 1A83FFFC cpd #-4 876F 2F07 ble L50 8771 CC0001 ldd #1 8774 ED16 std 22,x 8776 2005 bra L51 8778 L50: 8778 CC0000 ldd #0 877B ED16 std 22,x 877D L51: 877D EC18 ldd 24,x 877F A416 anda 22,x 8781 E417 andb 23,x 8783 1A830000 cpd #0 8787 2715 beq L44 8789 .dbline 771 ; error3[0] = 0; 8789 CC0000 ldd #0 878C FD938F std _error3 878F .dbline 772 ; multvlve(0, 0x03); 878F CC0003 ldd #3 8792 37 pshb 8793 36 psha 8794 CC0000 ldd #0 8797 BD81AC jsr _multvlve 879A 1838 puly 879C .dbline 773 ; } 879C 205E bra L45 879E L44: 879E .dbline 777 ; else { //run pid ; ; //calc gains ; proportion = K3[P] * error3[0]; 879E FC93BF ldd _K3 87A1 18FE938F ldy _error3 87A5 BD8069 jsr __muli 87A8 ED26 std 38,x 87AA .dbline 782 ; //integral = K3[I]; ; //derivative = K3[D] * (error3[0] - error3[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 87AA EC26 ldd 38,x 87AC E324 addd 36,x 87AE E322 addd 34,x 87B0 ED28 std 40,x 87B2 .dbline 785 ; ; ; if (error3[0] < 0) { 87B2 FC938F ldd _error3 87B5 2C0A bge L52 87B7 .dbline 786 ; DIR_PORT &= 0xFB; 87B7 18CE4000 ldy #0x4000 87BB 181D0004 bclr 0,y,#0x4 87BF .dbline 787 ; } 87BF 2008 bra L53 87C1 L52: 87C1 .dbline 789 ; else { ; DIR_PORT |= 0x04; 87C1 18CE4000 ldy #0x4000 87C5 181C0004 bset 0,y,#4 87C9 .dbline 790 ; } 87C9 L53: 87C9 .dbline 793 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 87C9 EC28 ldd 40,x 87CB 2C09 bge L54 87CD EC28 ldd 40,x 87CF 830001 subd #1 87D2 43 coma 87D3 53 comb 87D4 ED28 std 40,x 87D6 .dbline 799 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 87D6 L54: 87D6 .dbline 801 ; //range new_duty to max value ; if (new_duty > 236){ 87D6 EC28 ldd 40,x 87D8 1A8300EC cpd #236 87DC 2F05 ble L56 87DE .dbline 802 ; new_duty = 236; 87DE CC00EC ldd #236 87E1 ED28 std 40,x 87E3 .dbline 803 ; } 87E3 L56: 87E3 .dbline 805 ; ; new_duty = pwm_vals[new_duty]; 87E3 EC28 ldd 40,x 87E5 05 lsld 87E6 C39185 addd #_pwm_vals 87E9 188F xgdy 87EB 18EC00 ldd 0,y 87EE ED28 std 40,x 87F0 .dbline 808 ; ; ; multvlve(new_duty, 0x03); 87F0 CC0003 ldd #3 87F3 37 pshb 87F4 36 psha 87F5 EC28 ldd 40,x 87F7 BD81AC jsr _multvlve 87FA 1838 puly 87FC .dbline 810 ; ; } 87FC L45: 87FC .dbline 817 ; ; ; ; //Run pid for cylinder 4 ; ; //shift error values ; error4[2] = error4[1]; 87FC FC9397 ldd _error4+2 87FF FD9399 std _error4+4 8802 .dbline 818 ; error4[1] = error4[0]; 8802 FC9395 ldd _error4 8805 FD9397 std _error4+2 8808 .dbline 819 ; error4[0] = cyl4_des - cyl4_pstn; 8808 FC9379 ldd _cyl4_des 880B B39369 subd _cyl4_pstn 880E FD9395 std _error4 8811 .dbline 822 ; ; //range for tolerance ; if (error4[0] < TOLERANCE & error4[0] > 0 - TOLERANCE){ 8811 FC9395 ldd _error4 8814 1A830004 cpd #4 8818 2C07 bge L65 881A CC0001 ldd #1 881D ED14 std 20,x 881F 2005 bra L66 8821 L65: 8821 CC0000 ldd #0 8824 ED14 std 20,x 8826 L66: 8826 FC9395 ldd _error4 8829 1A83FFFC cpd #-4 882D 2F07 ble L67 882F CC0001 ldd #1 8832 ED12 std 18,x 8834 2005 bra L68 8836 L67: 8836 CC0000 ldd #0 8839 ED12 std 18,x 883B L68: 883B EC14 ldd 20,x 883D A412 anda 18,x 883F E413 andb 19,x 8841 1A830000 cpd #0 8845 2715 beq L61 8847 .dbline 823 ; error4[0] = 0; 8847 CC0000 ldd #0 884A FD9395 std _error4 884D .dbline 824 ; multvlve(0, 0x04); 884D CC0004 ldd #4 8850 37 pshb 8851 36 psha 8852 CC0000 ldd #0 8855 BD81AC jsr _multvlve 8858 1838 puly 885A .dbline 825 ; } 885A 205E bra L62 885C L61: 885C .dbline 829 ; else { //run pid ; ; //calc gains ; proportion = K4[P] * error4[0]; 885C FC93C5 ldd _K4 885F 18FE9395 ldy _error4 8863 BD8069 jsr __muli 8866 ED26 std 38,x 8868 .dbline 834 ; //integral = K4[I]; ; //derivative = K4[D] * (error4[0] - error4[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 8868 EC26 ldd 38,x 886A E324 addd 36,x 886C E322 addd 34,x 886E ED28 std 40,x 8870 .dbline 837 ; ; ; if (error4[0] < 0) { 8870 FC9395 ldd _error4 8873 2C0A bge L69 8875 .dbline 838 ; DIR_PORT &= 0xF7; 8875 18CE4000 ldy #0x4000 8879 181D0008 bclr 0,y,#0x8 887D .dbline 839 ; } 887D 2008 bra L70 887F L69: 887F .dbline 841 ; else { ; DIR_PORT |= 0x08; 887F 18CE4000 ldy #0x4000 8883 181C0008 bset 0,y,#8 8887 .dbline 842 ; } 8887 L70: 8887 .dbline 845 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 8887 EC28 ldd 40,x 8889 2C09 bge L71 888B EC28 ldd 40,x 888D 830001 subd #1 8890 43 coma 8891 53 comb 8892 ED28 std 40,x 8894 .dbline 851 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 8894 L71: 8894 .dbline 853 ; //range new_duty to max value ; if (new_duty > 236){ 8894 EC28 ldd 40,x 8896 1A8300EC cpd #236 889A 2F05 ble L73 889C .dbline 854 ; new_duty = 236; 889C CC00EC ldd #236 889F ED28 std 40,x 88A1 .dbline 855 ; } 88A1 L73: 88A1 .dbline 857 ; ; new_duty = pwm_vals[new_duty]; 88A1 EC28 ldd 40,x 88A3 05 lsld 88A4 C39185 addd #_pwm_vals 88A7 188F xgdy 88A9 18EC00 ldd 0,y 88AC ED28 std 40,x 88AE .dbline 860 ; ; ; multvlve(new_duty, 0x04); 88AE CC0004 ldd #4 88B1 37 pshb 88B2 36 psha 88B3 EC28 ldd 40,x 88B5 BD81AC jsr _multvlve 88B8 1838 puly 88BA .dbline 862 ; ; } 88BA L62: 88BA .dbline 868 ; ; ; //Run pid for cylinder 5 ; ; //shift error values ; error5[2] = error5[1]; 88BA FC939D ldd _error5+2 88BD FD939F std _error5+4 88C0 .dbline 869 ; error5[1] = error5[0]; 88C0 FC939B ldd _error5 88C3 FD939D std _error5+2 88C6 .dbline 870 ; error5[0] = cyl5_des - cyl5_pstn; 88C6 FC937B ldd _cyl5_des 88C9 B3936B subd _cyl5_pstn 88CC FD939B std _error5 88CF .dbline 873 ; ; //range for tolerance ; if (error5[0] < TOLERANCE & error5[0] > 0 - TOLERANCE){ 88CF FC939B ldd _error5 88D2 1A830004 cpd #4 88D6 2C07 bge L82 88D8 CC0001 ldd #1 88DB ED10 std 16,x 88DD 2005 bra L83 88DF L82: 88DF CC0000 ldd #0 88E2 ED10 std 16,x 88E4 L83: 88E4 FC939B ldd _error5 88E7 1A83FFFC cpd #-4 88EB 2F07 ble L84 88ED CC0001 ldd #1 88F0 ED0E std 14,x 88F2 2005 bra L85 88F4 L84: 88F4 CC0000 ldd #0 88F7 ED0E std 14,x 88F9 L85: 88F9 EC10 ldd 16,x 88FB A40E anda 14,x 88FD E40F andb 15,x 88FF 1A830000 cpd #0 8903 2715 beq L78 8905 .dbline 874 ; error5[0] = 0; 8905 CC0000 ldd #0 8908 FD939B std _error5 890B .dbline 875 ; multvlve(0, 0x05); 890B CC0005 ldd #5 890E 37 pshb 890F 36 psha 8910 CC0000 ldd #0 8913 BD81AC jsr _multvlve 8916 1838 puly 8918 .dbline 876 ; } 8918 205E bra L79 891A L78: 891A .dbline 880 ; else { //run pid ; ; //calc gains ; proportion = K5[P] * error5[0]; 891A FC93CB ldd _K5 891D 18FE939B ldy _error5 8921 BD8069 jsr __muli 8924 ED26 std 38,x 8926 .dbline 885 ; //integral = K5[I]; ; //derivative = K5[D] * (error5[0] - error5[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 8926 EC26 ldd 38,x 8928 E324 addd 36,x 892A E322 addd 34,x 892C ED28 std 40,x 892E .dbline 888 ; ; ; if (error5[0] < 0) { 892E FC939B ldd _error5 8931 2C0A bge L86 8933 .dbline 889 ; DIR_PORT &= 0xEF; 8933 18CE4000 ldy #0x4000 8937 181D0010 bclr 0,y,#0x10 893B .dbline 890 ; } 893B 2008 bra L87 893D L86: 893D .dbline 892 ; else { ; DIR_PORT |= 0x10; 893D 18CE4000 ldy #0x4000 8941 181C0010 bset 0,y,#16 8945 .dbline 893 ; } 8945 L87: 8945 .dbline 896 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 8945 EC28 ldd 40,x 8947 2C09 bge L88 8949 EC28 ldd 40,x 894B 830001 subd #1 894E 43 coma 894F 53 comb 8950 ED28 std 40,x 8952 .dbline 902 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 8952 L88: 8952 .dbline 904 ; //range new_duty to max value ; if (new_duty > 236){ 8952 EC28 ldd 40,x 8954 1A8300EC cpd #236 8958 2F05 ble L90 895A .dbline 905 ; new_duty = 236; 895A CC00EC ldd #236 895D ED28 std 40,x 895F .dbline 906 ; } 895F L90: 895F .dbline 908 ; ; new_duty = pwm_vals[new_duty]; 895F EC28 ldd 40,x 8961 05 lsld 8962 C39185 addd #_pwm_vals 8965 188F xgdy 8967 18EC00 ldd 0,y 896A ED28 std 40,x 896C .dbline 911 ; ; ; multvlve(new_duty, 0x05); 896C CC0005 ldd #5 896F 37 pshb 8970 36 psha 8971 EC28 ldd 40,x 8973 BD81AC jsr _multvlve 8976 1838 puly 8978 .dbline 913 ; ; } 8978 L79: 8978 .dbline 919 ; ; ; //Run pid for cylinder 6 ; ; //shift error values ; error6[2] = error6[1]; 8978 FC93A3 ldd _error6+2 897B FD93A5 std _error6+4 897E .dbline 920 ; error6[1] = error6[0]; 897E FC93A1 ldd _error6 8981 FD93A3 std _error6+2 8984 .dbline 921 ; error6[0] = cyl6_des - cyl6_pstn; 8984 FC937D ldd _cyl6_des 8987 B3936D subd _cyl6_pstn 898A FD93A1 std _error6 898D .dbline 924 ; ; //range for tolerance ; if (error6[0] < TOLERANCE & error6[0] > 0 - TOLERANCE){ 898D FC93A1 ldd _error6 8990 1A830004 cpd #4 8994 2C07 bge L99 8996 CC0001 ldd #1 8999 ED0C std 12,x 899B 2005 bra L100 899D L99: 899D CC0000 ldd #0 89A0 ED0C std 12,x 89A2 L100: 89A2 FC93A1 ldd _error6 89A5 1A83FFFC cpd #-4 89A9 2F07 ble L101 89AB CC0001 ldd #1 89AE ED0A std 10,x 89B0 2005 bra L102 89B2 L101: 89B2 CC0000 ldd #0 89B5 ED0A std 10,x 89B7 L102: 89B7 EC0C ldd 12,x 89B9 A40A anda 10,x 89BB E40B andb 11,x 89BD 1A830000 cpd #0 89C1 2715 beq L95 89C3 .dbline 925 ; error6[0] = 0; 89C3 CC0000 ldd #0 89C6 FD93A1 std _error6 89C9 .dbline 926 ; multvlve(0, 0x06); 89C9 CC0006 ldd #6 89CC 37 pshb 89CD 36 psha 89CE CC0000 ldd #0 89D1 BD81AC jsr _multvlve 89D4 1838 puly 89D6 .dbline 927 ; } 89D6 205E bra L96 89D8 L95: 89D8 .dbline 931 ; else { //run pid ; ; //calc gains ; proportion = K6[P] * error6[0]; 89D8 FC93D1 ldd _K6 89DB 18FE93A1 ldy _error6 89DF BD8069 jsr __muli 89E2 ED26 std 38,x 89E4 .dbline 936 ; //integral = K6[I]; ; //derivative = K6[D] * (error6[0] - error6[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 89E4 EC26 ldd 38,x 89E6 E324 addd 36,x 89E8 E322 addd 34,x 89EA ED28 std 40,x 89EC .dbline 939 ; ; ; if (error6[0] < 0) { 89EC FC93A1 ldd _error6 89EF 2C0A bge L103 89F1 .dbline 940 ; DIR_PORT &= 0xDF; 89F1 18CE4000 ldy #0x4000 89F5 181D0020 bclr 0,y,#0x20 89F9 .dbline 941 ; } 89F9 2008 bra L104 89FB L103: 89FB .dbline 943 ; else { ; DIR_PORT |= 0x20; 89FB 18CE4000 ldy #0x4000 89FF 181C0020 bset 0,y,#32 8A03 .dbline 944 ; } 8A03 L104: 8A03 .dbline 947 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 8A03 EC28 ldd 40,x 8A05 2C09 bge L105 8A07 EC28 ldd 40,x 8A09 830001 subd #1 8A0C 43 coma 8A0D 53 comb 8A0E ED28 std 40,x 8A10 .dbline 953 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 8A10 L105: 8A10 .dbline 955 ; //range new_duty to max value ; if (new_duty > 236){ 8A10 EC28 ldd 40,x 8A12 1A8300EC cpd #236 8A16 2F05 ble L107 8A18 .dbline 956 ; new_duty = 236; 8A18 CC00EC ldd #236 8A1B ED28 std 40,x 8A1D .dbline 957 ; } 8A1D L107: 8A1D .dbline 959 ; ; new_duty = pwm_vals[new_duty]; 8A1D EC28 ldd 40,x 8A1F 05 lsld 8A20 C39185 addd #_pwm_vals 8A23 188F xgdy 8A25 18EC00 ldd 0,y 8A28 ED28 std 40,x 8A2A .dbline 962 ; ; ; multvlve(new_duty, 0x06); 8A2A CC0006 ldd #6 8A2D 37 pshb 8A2E 36 psha 8A2F EC28 ldd 40,x 8A31 BD81AC jsr _multvlve 8A34 1838 puly 8A36 .dbline 964 ; ; } 8A36 L96: 8A36 .dbline 971 ; ; ; ; //Run pid for cylinder 7 ; ; //shift error values ; error7[2] = error7[1]; 8A36 FC93A9 ldd _error7+2 8A39 FD93AB std _error7+4 8A3C .dbline 972 ; error7[1] = error7[0]; 8A3C FC93A7 ldd _error7 8A3F FD93A9 std _error7+2 8A42 .dbline 973 ; error7[0] = cyl7_des - cyl7_pstn; 8A42 FC937F ldd _cyl7_des 8A45 B3936F subd _cyl7_pstn 8A48 FD93A7 std _error7 8A4B .dbline 976 ; ; //range for tolerance ; if (error7[0] < TOLERANCE & error7[0] > 0 - TOLERANCE){ 8A4B FC93A7 ldd _error7 8A4E 1A830004 cpd #4 8A52 2C07 bge L116 8A54 CC0001 ldd #1 8A57 ED08 std 8,x 8A59 2005 bra L117 8A5B L116: 8A5B CC0000 ldd #0 8A5E ED08 std 8,x 8A60 L117: 8A60 FC93A7 ldd _error7 8A63 1A83FFFC cpd #-4 8A67 2F07 ble L118 8A69 CC0001 ldd #1 8A6C ED06 std 6,x 8A6E 2005 bra L119 8A70 L118: 8A70 CC0000 ldd #0 8A73 ED06 std 6,x 8A75 L119: 8A75 EC08 ldd 8,x 8A77 A406 anda 6,x 8A79 E407 andb 7,x 8A7B 1A830000 cpd #0 8A7F 2715 beq L112 8A81 .dbline 977 ; error7[0] = 0; 8A81 CC0000 ldd #0 8A84 FD93A7 std _error7 8A87 .dbline 978 ; multvlve(0, 0x07); 8A87 CC0007 ldd #7 8A8A 37 pshb 8A8B 36 psha 8A8C CC0000 ldd #0 8A8F BD81AC jsr _multvlve 8A92 1838 puly 8A94 .dbline 979 ; } 8A94 205E bra L113 8A96 L112: 8A96 .dbline 983 ; else { //run pid ; ; //calc gains ; proportion = K7[P] * error7[0]; 8A96 FC93D7 ldd _K7 8A99 18FE93A7 ldy _error7 8A9D BD8069 jsr __muli 8AA0 ED26 std 38,x 8AA2 .dbline 988 ; //integral = K7[I]; ; //derivative = K7[D] * (error7[0] - error7[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 8AA2 EC26 ldd 38,x 8AA4 E324 addd 36,x 8AA6 E322 addd 34,x 8AA8 ED28 std 40,x 8AAA .dbline 991 ; ; ; if (error7[0] < 0) { 8AAA FC93A7 ldd _error7 8AAD 2C0A bge L120 8AAF .dbline 992 ; DIR_PORT &= 0xBF; 8AAF 18CE4000 ldy #0x4000 8AB3 181D0040 bclr 0,y,#0x40 8AB7 .dbline 993 ; } 8AB7 2008 bra L121 8AB9 L120: 8AB9 .dbline 995 ; else { ; DIR_PORT |= 0x40; 8AB9 18CE4000 ldy #0x4000 8ABD 181C0040 bset 0,y,#64 8AC1 .dbline 996 ; } 8AC1 L121: 8AC1 .dbline 999 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 8AC1 EC28 ldd 40,x 8AC3 2C09 bge L122 8AC5 EC28 ldd 40,x 8AC7 830001 subd #1 8ACA 43 coma 8ACB 53 comb 8ACC ED28 std 40,x 8ACE .dbline 1005 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 8ACE L122: 8ACE .dbline 1007 ; //range new_duty to max value ; if (new_duty > 236){ 8ACE EC28 ldd 40,x 8AD0 1A8300EC cpd #236 8AD4 2F05 ble L124 8AD6 .dbline 1008 ; new_duty = 236; 8AD6 CC00EC ldd #236 8AD9 ED28 std 40,x 8ADB .dbline 1009 ; } 8ADB L124: 8ADB .dbline 1011 ; ; new_duty = pwm_vals[new_duty]; 8ADB EC28 ldd 40,x 8ADD 05 lsld 8ADE C39185 addd #_pwm_vals 8AE1 188F xgdy 8AE3 18EC00 ldd 0,y 8AE6 ED28 std 40,x 8AE8 .dbline 1014 ; ; ; multvlve(new_duty, 0x07); 8AE8 CC0007 ldd #7 8AEB 37 pshb 8AEC 36 psha 8AED EC28 ldd 40,x 8AEF BD81AC jsr _multvlve 8AF2 1838 puly 8AF4 .dbline 1016 ; ; } 8AF4 L113: 8AF4 .dbline 1023 ; ; ; ; //Run pid for cylinder 8 ; ; //shift error values ; error8[2] = error8[1]; 8AF4 FC93AF ldd _error8+2 8AF7 FD93B1 std _error8+4 8AFA .dbline 1024 ; error8[1] = error8[0]; 8AFA FC93AD ldd _error8 8AFD FD93AF std _error8+2 8B00 .dbline 1025 ; error8[0] = cyl8_des - cyl8_pstn; 8B00 FC9381 ldd _cyl8_des 8B03 B39371 subd _cyl8_pstn 8B06 FD93AD std _error8 8B09 .dbline 1028 ; ; //range for tolerance ; if (error8[0] < TOLERANCE & error8[0] > 0 - TOLERANCE){ 8B09 FC93AD ldd _error8 8B0C 1A830004 cpd #4 8B10 2C07 bge L133 8B12 CC0001 ldd #1 8B15 ED04 std 4,x 8B17 2005 bra L134 8B19 L133: 8B19 CC0000 ldd #0 8B1C ED04 std 4,x 8B1E L134: 8B1E FC93AD ldd _error8 8B21 1A83FFFC cpd #-4 8B25 2F07 ble L135 8B27 CC0001 ldd #1 8B2A ED02 std 2,x 8B2C 2005 bra L136 8B2E L135: 8B2E CC0000 ldd #0 8B31 ED02 std 2,x 8B33 L136: 8B33 EC04 ldd 4,x 8B35 A402 anda 2,x 8B37 E403 andb 3,x 8B39 1A830000 cpd #0 8B3D 2715 beq L129 8B3F .dbline 1029 ; error8[0] = 0; 8B3F CC0000 ldd #0 8B42 FD93AD std _error8 8B45 .dbline 1030 ; multvlve(0, 0x08); 8B45 CC0008 ldd #8 8B48 37 pshb 8B49 36 psha 8B4A CC0000 ldd #0 8B4D BD81AC jsr _multvlve 8B50 1838 puly 8B52 .dbline 1031 ; } 8B52 205E bra L130 8B54 L129: 8B54 .dbline 1035 ; else { //run pid ; ; //calc gains ; proportion = K8[P] * error8[0]; 8B54 FC93DD ldd _K8 8B57 18FE93AD ldy _error8 8B5B BD8069 jsr __muli 8B5E ED26 std 38,x 8B60 .dbline 1040 ; //integral = K8[I]; ; //derivative = K8[D] * (error8[0] - error8[1]); ; ; //calc new raw value ; new_duty = proportion + integral + derivative; 8B60 EC26 ldd 38,x 8B62 E324 addd 36,x 8B64 E322 addd 34,x 8B66 ED28 std 40,x 8B68 .dbline 1043 ; ; ; if (error8[0] < 0) { 8B68 FC93AD ldd _error8 8B6B 2C0A bge L137 8B6D .dbline 1044 ; DIR_PORT &= 0x7F; 8B6D 18CE4000 ldy #0x4000 8B71 181D0080 bclr 0,y,#0x80 8B75 .dbline 1045 ; } 8B75 2008 bra L138 8B77 L137: 8B77 .dbline 1047 ; else { ; DIR_PORT |= 0x80; 8B77 18CE4000 ldy #0x4000 8B7B 181C0080 bset 0,y,#128 8B7F .dbline 1048 ; } 8B7F L138: 8B7F .dbline 1051 ; ; //take absolute value of new_duty ; if (new_duty < 0){ 8B7F EC28 ldd 40,x 8B81 2C09 bge L139 8B83 EC28 ldd 40,x 8B85 830001 subd #1 8B88 43 coma 8B89 53 comb 8B8A ED28 std 40,x 8B8C .dbline 1057 ; asm("ldd %new_duty\n" ; "subd #1\n" ; "coma\n" ; "comb\n" ; "std %new_duty\n"); ; } 8B8C L139: 8B8C .dbline 1059 ; //range new_duty to max value ; if (new_duty > 236){ 8B8C EC28 ldd 40,x 8B8E 1A8300EC cpd #236 8B92 2F05 ble L141 8B94 .dbline 1060 ; new_duty = 236; 8B94 CC00EC ldd #236 8B97 ED28 std 40,x 8B99 .dbline 1061 ; } 8B99 L141: 8B99 .dbline 1063 ; ; new_duty = pwm_vals[new_duty]; 8B99 EC28 ldd 40,x 8B9B 05 lsld 8B9C C39185 addd #_pwm_vals 8B9F 188F xgdy 8BA1 18EC00 ldd 0,y 8BA4 ED28 std 40,x 8BA6 .dbline 1066 ; ; ; multvlve(new_duty, 0x08); 8BA6 CC0008 ldd #8 8BA9 37 pshb 8BAA 36 psha 8BAB EC28 ldd 40,x 8BAD BD81AC jsr _multvlve 8BB0 1838 puly 8BB2 .dbline 1068 ; ; } 8BB2 L130: 8BB2 .dbline 1073 ; ; ; ; ; handleSampleFlag = 0; 8BB2 7F9362 clr _handleSampleFlag 8BB5 .dbline 1074 ; } 8BB5 L6: 8BB5 8F xgdx 8BB6 C3002A addd #42 8BB9 8F xgdx 8BBA 35 txs 8BBB 38 pulx 8BBC 39 rts ; IX -> 0,x ; rMEM -> 2,x ; ?temp -> 4,x ; ?temp -> 6,x ; ?temp -> 8,x ; ?temp -> 10,x ; cylinderDes -> 12,x ; cylinderNumber -> 13,x ; counter -> 14,x 8BBD _decode_command:: 8BBD BD80A2 jsr __enterb 8BC0 10 .byte 0x10 8BC1 .dbfunc decode_command 8BC1 .dbline 1086 ; ; ; /********************************************************/ ; /*decode_command() */ ; /*function to decode the commands recieved on the */ ; /*serial port */ ; /* */ ; /********************************************************/ ; ; void decode_command(void){ ; ; int counter = 0; 8BC1 CC0000 ldd #0 8BC4 ED0E std 14,x 8BC6 .dbline 1087 ; char cylinderNumber = 0; 8BC6 6F0D clr 13,x 8BC8 .dbline 1088 ; char cylinderDes = 0; 8BC8 6F0C clr 12,x 8BCA 2007 bra L145 8BCC L144: 8BCC .dbline 1094 8BCC EC0E ldd 14,x 8BCE C30001 addd #1 8BD1 ED0E std 14,x 8BD3 .dbline 1095 8BD3 L145: 8BD3 .dbline 1093 ; ; ; //search through command string to find start char ; //in case of bogus data ; while(counter < COMMAND_LENGTH && Command[counter] != START_CHAR) 8BD3 EC0E ldd 14,x 8BD5 1A830007 cpd #7 8BD9 2C0E bge L147 8BDB EC0E ldd 14,x 8BDD C39439 addd #_Command 8BE0 188F xgdy 8BE2 18E600 ldab 0,y 8BE5 C124 cmpb #36 8BE7 26E3 bne L144 8BE9 L147: 8BE9 .dbline 1097 ; {counter++; ; } ; ; if (counter == COMMAND_LENGTH){//bogus data so return 8BE9 EC0E ldd 14,x 8BEB 1A830007 cpd #7 8BEF 2606 bne L148 8BF1 .dbline 1098 ; handleCommandFlag = 0; 8BF1 7F9361 clr _handleCommandFlag 8BF4 .dbline 1099 ; return; 8BF4 7E8CC0 jmp L143 8BF7 L148: 8BF7 .dbline 1102 ; } ; ; switch (Command[counter + 1]){ 8BF7 EC0E ldd 14,x 8BF9 C3943A addd #_Command+1 8BFC 188F xgdy 8BFE 18E600 ldab 0,y 8C01 4F clra 8C02 5D tstb 8C03 2A01 bpl X0 8C05 43 coma 8C06 X0: 8C06 ED0A std 10,x 8C08 1A830043 cpd #67 8C0C 2703 beq L154 8C0E 7E8CBD jmp L150 8C11 L154: 8C11 .dbline 1104 ; case 'C': //cylinder position value ; cylinderNumber = Command[counter + 2] & 0x0F; 8C11 EC0E ldd 14,x 8C13 C3943B addd #_Command+2 8C16 188F xgdy 8C18 18E600 ldab 0,y 8C1B C40F andb #15 8C1D E70D stab 13,x 8C1F .dbline 1105 ; Command[counter + 3] &= 0x0F; 8C1F EC0E ldd 14,x 8C21 C3943C addd #_Command+3 8C24 ED08 std 8,x 8C26 1AEE08 ldy 8,x 8C29 183C pshy ; spill 8C2B 1AEE08 ldy 8,x 8C2E 1838 puly ; reload 8C30 181D00F0 bclr 0,y,#0xf0 8C34 .dbline 1106 ; Command[counter + 4] &= 0x0F; 8C34 EC0E ldd 14,x 8C36 C3943D addd #_Command+4 8C39 ED06 std 6,x 8C3B 1AEE06 ldy 6,x 8C3E 183C pshy ; spill 8C40 1AEE06 ldy 6,x 8C43 1838 puly ; reload 8C45 181D00F0 bclr 0,y,#0xf0 8C49 .dbline 1107 ; Command[counter + 5] &= 0x0F; 8C49 EC0E ldd 14,x 8C4B C3943E addd #_Command+5 8C4E ED04 std 4,x 8C50 1AEE04 ldy 4,x 8C53 183C pshy ; spill 8C55 1AEE04 ldy 4,x 8C58 1838 puly ; reload 8C5A 181D00F0 bclr 0,y,#0xf0 8C5E .dbline 1108 ; cylinderDes = Command[counter + 3] * 100 + Command[counter + 4] * 10 + Command[counter + 5]; 8C5E EC0E ldd 14,x 8C60 C3943D addd #_Command+4 8C63 188F xgdy 8C65 18E600 ldab 0,y 8C68 4F clra 8C69 5D tstb 8C6A 2A01 bpl X1 8C6C 43 coma 8C6D X1: 8C6D 188F xgdy 8C6F CC000A ldd #10 8C72 BD8069 jsr __muli 8C75 ED02 std 2,x 8C77 EC0E ldd 14,x 8C79 C3943C addd #_Command+3 8C7C 188F xgdy 8C7E 18E600 ldab 0,y 8C81 4F clra 8C82 5D tstb 8C83 2A01 bpl X2 8C85 43 coma 8C86 X2: 8C86 188F xgdy 8C88 CC0064 ldd #100 8C8B BD8069 jsr __muli 8C8E E302 addd 2,x 8C90 37 pshb ; 8C91 36 psha ; spill 8C92 EC0E ldd 14,x 8C94 C3943E addd #_Command+5 8C97 188F xgdy 8C99 18E600 ldab 0,y 8C9C 4F clra 8C9D 5D tstb 8C9E 2A01 bpl X3 8CA0 43 coma 8CA1 X3: 8CA1 ED02 std 2,x 8CA3 32 pula ; 8CA4 33 pulb ; reload 8CA5 E302 addd 2,x 8CA7 E70C stab 12,x 8CA9 E60D ldab 13,x 8CAB C001 subb #1 8CAD 58 lslb 8CAE A60C ldaa 12,x 8CB0 FF942F stx _x_preserve 8CB3 CE9373 ldx #_cyl1_des 8CB6 3A abx 8CB7 08 inx 8CB8 A700 staa 0,x 8CBA FE942F ldx _x_preserve 8CBD .dbline 1121 ; //store new command into global variables ; asm("ldab %cylinderNumber\n" ; "subb #1\n" ; "lslb\n" ; "ldaa %cylinderDes\n" ; "stx _x_preserve\n" ; "ldx #_cyl1_des\n" ; "abx\n" ; "inx\n" ; "staa 0,x\n" ; "ldx _x_preserve"); ; ; break ; 8CBD L150: 8CBD L151: 8CBD .dbline 1127 ; ; //put next command case here ; ; }//ends switch statement ; ; handleCommandFlag = 0; 8CBD 7F9361 clr _handleCommandFlag 8CC0 .dbline 1128 ; } 8CC0 L143: 8CC0 8F xgdx 8CC1 C30010 addd #16 8CC4 8F xgdx 8CC5 35 txs 8CC6 38 pulx 8CC7 39 rts ; IX -> 0,x ; byte -> 5,x 8CC8 _send_message:: 8CC8 37 pshb 8CC9 36 psha 8CCA 3C pshx 8CCB 3C pshx 8CCC 30 tsx 8CCD EF00 stx 0,x 8CCF .dbfunc send_message 8CCF .dbline 1139 ; ; /********************************************************/ ; /*send_message(byte) */ ; /*function to send a byte out the serial port */ ; /* */ ; /* */ ; /********************************************************/ ; ; void send_message(char byte) ; { ; Message = byte; 8CCF E605 ldab 5,x 8CD1 F7935F stab _Message 8CD4 .dbline 1140 ; SCCR2 |= 0x80; 8CD4 18CE102D ldy #0x102d 8CD8 181C0080 bset 0,y,#128 8CDC .dbline 1141 ; } 8CDC L162: 8CDC 08 inx 8CDD 08 inx 8CDE 35 txs 8CDF 38 pulx 8CE0 1838 puly 8CE2 39 rts ; IX -> 0,x ; ?temp -> 3,x 8CE3 _SCI_isr:: 8CE3 BD80A2 jsr __enterb 8CE6 04 .byte 0x4 8CE7 .dbfunc SCI_isr 8CE7 .dbline 1154 ; ; /********************************************************/ ; /*ISRs */ ; /* */ ; /* */ ; /* */ ; /********************************************************/ ; ; /* Captures incoming messages of CommandLength bytes */ ; /* Sends one byte messages then disables TIE */ ; /* SCI isr */ ; void SCI_isr() { ; if(SCSR & 0X20) { 8CE7 18CE102E ldy #0x102e 8CEB 181F00203F brclr 0,y,#32,L164 8CF0 .dbline 1155 ; Command[CommandPos] = SCDR; 8CF0 F69360 ldab _CommandPos 8CF3 4F clra 8CF4 5D tstb 8CF5 2A01 bpl X4 8CF7 43 coma 8CF8 X4: 8CF8 C39439 addd #_Command 8CFB 188F xgdy ; vol 8CFD F6102F ldab 0x102f 8D00 18E700 stab 0,y 8D03 .dbline 1156 ; send_message(SCDR); // Include to echo characters ; vol 8D03 F6102F ldab 0x102f 8D06 4F clra 8D07 5D tstb 8D08 2A01 bpl X5 8D0A 43 coma 8D0B X5: 8D0B BD8CC8 jsr _send_message 8D0E .dbline 1157 ; if (++CommandPos == COMMAND_LENGTH) { 8D0E F69360 ldab _CommandPos 8D11 CB01 addb #1 8D13 E703 stab 3,x 8D15 F79360 stab _CommandPos 8D18 E603 ldab 3,x 8D1A C107 cmpb #7 8D1C 2603 bne L166 8D1E .dbline 1158 ; CommandPos = 0; 8D1E 7F9360 clr _CommandPos 8D21 .dbline 1159 ; } 8D21 L166: 8D21 .dbline 1160 ; if (SCDR == END_CHAR) { ; vol 8D21 F6102F ldab 0x102f 8D24 C123 cmpb #35 8D26 261E bne L165 8D28 .dbline 1161 ; handleCommandFlag = 1; 8D28 C601 ldab #1 8D2A F79361 stab _handleCommandFlag 8D2D .dbline 1163 ; } ; } 8D2D 2017 bra L165 8D2F L164: 8D2F .dbline 1164 ; else if(SCSR & 0X80) { 8D2F 18CE102E ldy #0x102e 8D33 181F00800E brclr 0,y,#128,L170 8D38 .dbline 1165 ; SCDR = Message; 8D38 F6935F ldab _Message 8D3B F7102F stab 0x102f 8D3E .dbline 1166 ; SCCR2 &= 0X7F; 8D3E 18CE102D ldy #0x102d 8D42 181D0080 bclr 0,y,#0x80 8D46 .dbline 1167 ; } 8D46 L170: 8D46 L165: 8D46 .dbline 1169 ; ; } 8D46 L163: 8D46 08 inx 8D47 08 inx 8D48 08 inx 8D49 08 inx 8D4A 35 txs 8D4B 38 pulx 8D4C 3B rti ; IX -> 0,x 8D4D _TOC5_isr:: 8D4D .dbfunc TOC5_isr 8D4D .dbline 1175 ; ; ; /*TOC5_isr- controls motors 7 and 8*/ ; void TOC5_isr() ; { ; TFLG1 = 0x08; //clear interrupt flag 8D4D C608 ldab #8 8D4F F71023 stab 0x1023 8D52 18FE9403 ldy _oc5_reg 8D56 B69431 ldaa _mot_spd 8D59 843F anda #$3f 8D5B 18AA00 oraa 0,y 8D5E B79431 staa _mot_spd 8D61 FE9432 ldx _pwm_port 8D64 A700 staa 0,x 8D66 1808 iny 8D68 CE101E ldx #$101E 8D6B 18EC00 ldd 0,y 8D6E E300 addd 0,x 8D70 ED00 std 0,x 8D72 188C940C cpy #_oc5_3vl 8D76 2604 bne oc5_rti 8D78 18CE9403 ldy #_oc5_reg 8D7C oc5_rti: 8D7C 1808 iny 8D7E 1808 iny 8D80 18FF9403 sty _oc5_reg 8D84 .dbline 1195 ; asm("ldy _oc5_reg\n" ; "ldaa _mot_spd\n" ; "anda #$3f\n" ; "oraa 0,y\n" ; "staa _mot_spd\n" ; "ldx _pwm_port\n" ; "staa 0,x\n" ; "iny\n" ; "ldx #$101E\n" ; "ldd 0,y\n" ; "addd 0,x\n" ; "std 0,x\n" ; "cpy #_oc5_3vl\n" ; "bne oc5_rti\n" ; "ldy #_oc5_reg\n" ; "oc5_rti:\n" ; "iny\n" ; "iny\n" ; "sty _oc5_reg"); ; } 8D84 L172: 8D84 3B rti ; IX -> 0,x 8D85 _TOC4_isr:: 8D85 .dbfunc TOC4_isr 8D85 .dbline 1200 ; ; /*TOC4_isr - controls motors 5 and 6*/ ; void TOC4_isr() ; { ; TFLG1 = 0X10; //clear interrupt flag 8D85 C610 ldab #16 8D87 F71023 stab 0x1023 8D8A 18FE940E ldy _oc4_reg 8D8E B69431 ldaa _mot_spd 8D91 84CF anda #$cf 8D93 18AA00 oraa 0,y 8D96 B79431 staa _mot_spd 8D99 FE9432 ldx _pwm_port 8D9C A700 staa 0,x 8D9E 1808 iny 8DA0 CE101C ldx #$101C 8DA3 18EC00 ldd 0,y 8DA6 E300 addd 0,x 8DA8 ED00 std 0,x 8DAA 188C9417 cpy #_oc4_3vl 8DAE 2604 bne oc4_rti 8DB0 18CE940E ldy #_oc4_reg 8DB4 oc4_rti: 8DB4 1808 iny 8DB6 1808 iny 8DB8 18FF940E sty _oc4_reg 8DBC .dbline 1220 ; asm("ldy _oc4_reg\n" ; "ldaa _mot_spd\n" ; "anda #$cf\n" ; "oraa 0,y\n" ; "staa _mot_spd\n" ; "ldx _pwm_port\n" ; "staa 0,x\n" ; "iny\n" ; "ldx #$101C\n" ; "ldd 0,y\n" ; "addd 0,x\n" ; "std 0,x\n" ; "cpy #_oc4_3vl\n" ; "bne oc4_rti\n" ; "ldy #_oc4_reg\n" ; "oc4_rti:\n" ; "iny\n" ; "iny\n" ; "sty _oc4_reg"); ; } 8DBC L173: 8DBC 3B rti ; IX -> 0,x 8DBD _TOC3_isr:: 8DBD .dbfunc TOC3_isr 8DBD .dbline 1226 ; ; ; /*TOC3_isr - controls motors 3 and 4*/ ; void TOC3_isr() ; { ; TFLG1 = 0x20; //clear interrupt flag 8DBD C620 ldab #32 8DBF F71023 stab 0x1023 8DC2 18FE9419 ldy _oc3_reg 8DC6 B69431 ldaa _mot_spd 8DC9 84F3 anda #$f3 8DCB 18AA00 oraa 0,y 8DCE B79431 staa _mot_spd 8DD1 FE9432 ldx _pwm_port 8DD4 A700 staa 0,x 8DD6 1808 iny 8DD8 CE101A ldx #$101A 8DDB 18EC00 ldd 0,y 8DDE E300 addd 0,x 8DE0 ED00 std 0,x 8DE2 188C9422 cpy #_oc3_3vl 8DE6 2604 bne oc3_rti 8DE8 18CE9419 ldy #_oc3_reg 8DEC oc3_rti: 8DEC 1808 iny 8DEE 1808 iny 8DF0 18FF9419 sty _oc3_reg 8DF4 .dbline 1246 ; asm("ldy _oc3_reg\n" ; "ldaa _mot_spd\n" ; "anda #$f3\n" ; "oraa 0,y\n" ; "staa _mot_spd\n" ; "ldx _pwm_port\n" ; "staa 0,x\n" ; "iny\n" ; "ldx #$101A\n" ; "ldd 0,y\n" ; "addd 0,x\n" ; "std 0,x\n" ; "cpy #_oc3_3vl\n" ; "bne oc3_rti\n" ; "ldy #_oc3_reg\n" ; "oc3_rti:\n" ; "iny\n" ; "iny\n" ; "sty _oc3_reg"); ; } 8DF4 L174: 8DF4 3B rti ; IX -> 0,x 8DF5 _TOC2_isr:: 8DF5 .dbfunc TOC2_isr 8DF5 .dbline 1253 ; ; ; ; /*TOC2_isr - controls motors 1 and 2*/ ; void TOC2_isr() ; { ; TFLG1 = 0x40; //clear interrupt flag 8DF5 C640 ldab #64 8DF7 F71023 stab 0x1023 8DFA 18FE9424 ldy _oc2_reg 8DFE B69431 ldaa _mot_spd 8E01 84FC anda #$fc 8E03 18AA00 oraa 0,y 8E06 B79431 staa _mot_spd 8E09 FE9432 ldx _pwm_port 8E0C A700 staa 0,x 8E0E 1808 iny 8E10 CE1018 ldx #$1018 8E13 18EC00 ldd 0,y 8E16 E300 addd 0,x 8E18 ED00 std 0,x 8E1A 188C942D cpy #_oc2_3vl 8E1E 2604 bne oc2_rti 8E20 18CE9424 ldy #_oc2_reg 8E24 oc2_rti: 8E24 1808 iny 8E26 1808 iny 8E28 18FF9424 sty _oc2_reg 8E2C .dbline 1274 ; ; asm("ldy _oc2_reg\n" ; "ldaa _mot_spd\n" ; "anda #$fc\n" ; "oraa 0,y\n" ; "staa _mot_spd\n" ; "ldx _pwm_port\n" ; "staa 0,x\n" ; "iny\n" ; "ldx #$1018\n" ; "ldd 0,y\n" ; "addd 0,x\n" ; "std 0,x\n" ; "cpy #_oc2_3vl\n" ; "bne oc2_rti\n" ; "ldy #_oc2_reg\n" ; "oc2_rti:\n" ; "iny\n" ; "iny\n" ; "sty _oc2_reg"); ; } 8E2C L175: 8E2C 3B rti ; IX -> 0,x 8E2D _RTI_isr:: 8E2D .dbfunc RTI_isr 8E2D .dbline 1280 ; ; /*RTI_isr - samples analog values on every third interrupt*/ ; /*sets a flag to call PID controller*/ ; void RTI_isr() ; { ; TFLG2 = 0x40; //clear flag 8E2D C640 ldab #64 8E2F F71025 stab 0x1025 8E32 .dbline 1281 ; if (RTIcount < 2) 8E32 F69436 ldab _RTIcount 8E35 C102 cmpb #2 8E37 2C05 bge L177 8E39 .dbline 1283 ; { ; RTIcount++; 8E39 7C9436 inc _RTIcount 8E3C .dbline 1284 ; return; 8E3C 204C bra L176 8E3E L177: 8E3E .dbline 1287 ; } ; ; RTIcount = 0; 8E3E 7F9436 clr _RTIcount 8E41 .dbline 1290 ; ; //run sample of all 8 cylinders ; ADCTL = 0x90 //CCF=1 SCAN=0 MULT=1 CD-CA=0000 8E41 C690 ldab #144 8E43 F71030 stab 0x1030 8E46 8615 ldaa #21 8E48 loop: 8E48 4A deca 8E49 26FD bne loop 8E4B B61031 ldaa $1031 8E4E B79364 staa _cyl1_pstn + 1 8E51 B61032 ldaa $1032 8E54 B79366 staa _cyl2_pstn + 1 8E57 B61033 ldaa $1033 8E5A B79368 staa _cyl3_pstn + 1 8E5D B61034 ldaa $1034 8E60 B7936A staa _cyl4_pstn + 1 8E63 .dbline 1316 ; //wait for complete samples ; asm("ldaa #21\n" ; "loop:\n" ; "deca\n" ; "bne loop"); ; ; //now load in the analog values ; //assembly routines to change char to int ; ; //cyl1_pstn = ADR1; ; asm("ldaa $1031\n" ; "staa _cyl1_pstn + 1\n"); ; ; //cyl2_pstn = ADR2; ; asm("ldaa $1032\n" ; "staa _cyl2_pstn + 1\n"); ; ; //cyl3_pstn = ADR3; ; asm("ldaa $1033\n" ; "staa _cyl3_pstn + 1\n"); ; ; //cyl4_pstn = ADR4; ; asm("ldaa $1034\n" ; "staa _cyl4_pstn + 1\n"); ; ; ADCTL = 0x94 //CCF=1 SCAN=0 MULT=1 CD-CA=0100 8E63 C694 ldab #148 8E65 F71030 stab 0x1030 8E68 8615 ldaa #21 8E6A loop2: 8E6A 4A deca 8E6B 26FD bne loop2 8E6D B61031 ldaa $1031 8E70 B7936C staa _cyl5_pstn + 1 8E73 B61032 ldaa $1032 8E76 B7936E staa _cyl6_pstn + 1 8E79 B61033 ldaa $1033 8E7C B79370 staa _cyl7_pstn + 1 8E7F B61034 ldaa $1034 8E82 B79372 staa _cyl8_pstn + 1 8E85 .dbline 1342 ; //wait for complete samples ; asm("ldaa #21\n" ; "loop2:\n" ; "deca\n" ; "bne loop2"); ; ; //cyl5_pstn = ADR1; ; asm("ldaa $1031\n" ; "staa _cyl5_pstn + 1\n"); ; ; //cyl6_pstn = ADR2; ; asm("ldaa $1032\n" ; "staa _cyl6_pstn + 1\n"); ; ; //cyl7_pstn = ADR3; ; asm("ldaa $1033\n" ; "staa _cyl7_pstn + 1\n"); ; ; //cyl8_pstn = ADR4; ; asm("ldaa $1034\n" ; "staa _cyl8_pstn + 1\n"); ; ; //finished with sampling ; ; ; handleSampleFlag = 1; //set flag to run pid routine 8E85 C601 ldab #1 8E87 F79362 stab _handleSampleFlag 8E8A .dbline 1344 ; ; } 8E8A L176: 8E8A 3B rti ; IX -> 0,x ; count -> 2,x 8E8B _main:: 8E8B BD80A2 jsr __enterb 8E8E 04 .byte 0x4 8E8F .dbfunc main 8E8F .dbline 1356 ; ; /********************************************************/ ; /*Begin main function */ ; /* */ ; /* */ ; /* */ ; /********************************************************/ ; ; void main(void) ; { ; ; int count = 1700; 8E8F CC06A4 ldd #1700 8E92 ED02 std 2,x 8E94 .dbline 1360 ; /*this must be here to initalize the pointers and ; leave them in the correct momory space*/ ; ; oc2_reg = &oc2_1ot; 8E94 CC9426 ldd #_oc2_1ot 8E97 FD9424 std _oc2_reg 8E9A .dbline 1361 ; oc3_reg = &oc3_1ot; 8E9A CC941B ldd #_oc3_1ot 8E9D FD9419 std _oc3_reg 8EA0 .dbline 1362 ; oc4_reg = &oc4_1ot; 8EA0 CC9410 ldd #_oc4_1ot 8EA3 FD940E std _oc4_reg 8EA6 .dbline 1363 ; oc5_reg = &oc5_1ot; 8EA6 CC9405 ldd #_oc5_1ot 8EA9 FD9403 std _oc5_reg 8EAC .dbline 1365 ; ; init_analog(); 8EAC BD8040 jsr _init_analog 8EAF .dbline 1366 ; init_SCI(); 8EAF BD8143 jsr _init_SCI 8EB2 .dbline 1367 ; init_pulse(); //set up interrupts for oc2-5 8EB2 BD815F jsr _init_pulse 8EB5 .dbline 1368 ; init_RTI(); 8EB5 BD819B jsr _init_RTI 8EB8 2010 bra L181 8EBA L180: 8EBA .dbline 1374 ; ; //printf("\n\n starting\n"); ; //multvlve(20000, 0x01); ; ; while(1){ //main loop ; if(handleSampleFlag){ 8EBA 7D9362 tst _handleSampleFlag 8EBD 2703 beq L183 8EBF .dbline 1375 ; pid_controller(); 8EBF BD85AA jsr _pid_controller 8EC2 .dbline 1376 ; }//ends if 8EC2 L183: 8EC2 .dbline 1378 ; ; if(handleCommandFlag){ 8EC2 7D9361 tst _handleCommandFlag 8EC5 2703 beq L185 8EC7 .dbline 1379 ; decode_command(); 8EC7 BD8BBD jsr _decode_command 8ECA .dbline 1380 ; }//ends if 8ECA L185: 8ECA .dbline 1382 ; ; }//ends main while 8ECA L181: 8ECA 20EE bra L180 8ECC L179: 8ECC 08 inx 8ECD 08 inx 8ECE 08 inx 8ECF 08 inx 8ED0 35 txs 8ED1 38 pulx 8ED2 39 rts .area memory(abs) .org 0xffd6 FFD6 _interrupt_vectors:: FFD6 8CE3 .word _SCI_isr FFD8 FFFF .word 65535 FFDA FFFF .word 65535 FFDC FFFF .word 65535 FFDE FFFF .word 65535 FFE0 8D4D .word _TOC5_isr FFE2 8D85 .word _TOC4_isr FFE4 8DBD .word _TOC3_isr FFE6 8DF5 .word _TOC2_isr FFE8 FFFF .word 65535 FFEA FFFF .word 65535 FFEC FFFF .word 65535 FFEE FFFF .word 65535 FFF0 8E2D .word _RTI_isr FFF2 FFFF .word 65535 FFF4 FFFF .word 65535 FFF6 FFFF .word 65535 FFF8 FFFF .word 65535 FFFA FFFF .word 65535 FFFC FFFF .word 65535 FFFE 8000 .word __start .area data .area bss 9439 _Command:: 9439 .blkb 14