.module finally.c 0000 .dbfile finally.c .area text ; IX -> 0,x 0000 _SCI_isr:: 0000 .dbfile C:\ICCTJP\include/isrdecl.h 0000 .dbfunc SCI_isr 0000 .dbline 41 ; /************************************************************************************************************************ ; * Program: finally.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, 2000 * ; ************************************************************************************************************************/ ; ; /**************************** Constants *********************************/ ; #define pulse_handler TOC2_isr ; #define tolerance 10 ; #define valve_sensor analog(1) ; /**************************** End of Constants **************************/ ; ; /*************************** Interrupts *********************************/ ; #pragma interrupt_handler TOC2_isr, RTI_isr, TOF_isr; ; /*************************** End of Interrupts **************************/ ; ; /************************** 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 error[3] = {0}; ; int desired = 150; ; long count = 0; ; ; /************************ End of Global Variables ***********************/ ; ; ; /************************** Function Declarations **********************/ 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .dbline 47 ; void init_pulse(); //Initilizes TOC for PWM interrupts ; void pulse_handler(); //This is the function executed at each TOC2_isr ; /******************** End of Function Declarations *********************/ ; ; ; /**************************** Main **************************************/ 0001 L3: 0001 3B rti ; IX -> 0,x 0002 _PAIE_isr:: 0002 .dbfunc PAIE_isr 0002 .dbline 53 ; ; void main(void) ; { ; int Mp, Md; ; int Kp, Kd; ; /* VT100 clear screen */ 0002 L4: 0002 3B rti ; IX -> 0,x 0003 _PAV_isr:: 0003 .dbfunc PAV_isr 0003 .dbline 59 ; char clear[]= "\x1b\x5B\x32\x4A\x04"; ; ; /* VT100 position cursor at (x,y) = (3,12) command is "\x1b[3;12H"*/ ; char place[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOC3_isr:: 0004 .dbfunc TOC3_isr 0004 .dbline 89 ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate ; SET_BIT(TMSK2, 0x40); //Enable RTI interrupt ; ; init_pulse(); ; init_analog(); ; init_serial(); ; ; //printf("%s", clear); ; //printf("%s", place); ; ; printf("\tTitle:\t\tvalve.c\n" ; "\tProgrammer:\tScott Nortman\n" ; "\tDate:\t\tMarch, 2000\n" ; "\tVersion\t\t1\n\n"); ; ; printf("PNEUMATIC CYLINDER DIAGNOSTIC PROGRAM\n\n"); ; //printf("Enter the desired period in e clocks:\n"); ; //period = (read_int() * 1000); ; printf("Enter the proportional gain\n"); ; Kp = read_int(); ; printf("Enter the derivative gain\n"); ; Kd = read_int(); ; INTR_ON(); ; desired = 150; ; ; ; ; while(1) ; { ; 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TIC3_isr:: 0005 .dbfunc TIC3_isr 0005 .dbline 101 ; //Proportional control ; Mp = Kp * error[0]; ; //Derivative Control ; Md = Kd * (error[0] - error[1]); ; ; period = Mp + Md; ; duty_cycle = (period / 2); ; ; if (duty_cycle < 0) ; { ; duty_cycle = -1 * duty_cycle; ; CLEAR_BIT(PORTA, 0x20); 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC2_isr:: 0006 .dbfunc TIC2_isr 0006 .dbline 107 ; } ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; 0006 L8: 0006 3B rti ; IX -> 0,x 0007 _TIC1_isr:: 0007 .dbfunc TIC1_isr 0007 .dbline 113 ; }/*End While*/ ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ 0007 L9: 0007 3B rti ; IX -> 0,x 0008 _IRQ_isr:: 0008 .dbfunc IRQ_isr 0008 .dbline 125 ; ; ; ; /************************** Function Defintions *************************/ ; ; void init_pulse(void) ; { ; INTR_OFF(); ; SET_BIT(TCTL1, 0x80); //Enable OC2 for falling edge on first sucessful compare (safe default) ; CLEAR_BIT(TCTL1, 0x40); ; TOC2 = 0; //Set TOC2 to zero ; SET_BIT(TMSK1, 0x40); //Enable OC2 mask 0008 L10: 0008 3B rti ; IX -> 0,x 0009 _XIRQ_isr:: 0009 .dbfunc XIRQ_isr 0009 .dbline 131 ; //INTR_ON(); ; ; printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() 0009 L11: 0009 3B rti ; IX -> 0,x 000A _SWI_isr:: 000A .dbfunc SWI_isr 000A .dbline 137 ; { //printf("ISR\n"); ; ; ; //enable toggle ; //CLEAR_BIT(TCTL1, 0x80); ; //SET_BIT(TCTL1, 0x40); 000A L12: 000A 3B rti ; IX -> 0,x 000B _ILLOP_isr:: 000B .dbfunc ILLOP_isr 000B .dbline 143 ; if (duty_cycle <= 100) ; //This handles if duty cycle is less than or equal to 100 e clocks ( almost always off) ; { ; SET_BIT(TCTL1, 0x80); //Enable OC2 for falling edge (make sure pin goes low) ; CLEAR_BIT(TCTL1, 0X40); ; TOC2 += period; //Add the period to TOC2 000B L13: 000B 3B rti ; IX -> 0,x 000C _COP_isr:: 000C .dbfunc COP_isr 000C .dbline 149 ; } ; ; else if ((period - duty_cycle) <= 100) //This handles what to do if the pin should almost always be high ; { ; CLEAR_BIT(TCTL1, 0x80); //Set the pin to rising edge ; SET_BIT(TCTL1, 0X40); 000C L14: 000C 3B rti ; IX -> 0,x 000D _CLMON_isr:: 000D .dbfunc CLMON_isr 000D .dbline 155 ; TOC2 += period; //Add period ; } ; ; else //This is for the general case ; { ; if (TCTL1 & 0x40) //Test bit 6. If it is a one, you are now high and must change to go low 000D L15: 000D 3B rti .area data 0000 _drew:: 0000 .blkw 1 .area idata 0000 0000 .word _interrupt_vectors .area data 0002 _error:: 0002 .blkb 2 .area idata 0002 0000 .word 0 .area data 0004 .blkb 4 .area idata 0004 00000000 .byte 0,0,0,0 .area data 0008 _desired:: 0008 .blkb 2 .area idata 0008 0096 .word 150 .area data 000A _count:: 000A .blkb 4 .area idata 000A 00000000 .word 0,0 .area text 000E L17: 000E 1B5B324A0400 .byte 27,91,50,'J,4,0 0014 L18: 0014 1B5B313B314800 .byte 27,91,49,59,49,'H,0 ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; place -> 3,x ; clear -> 10,x ; Kd -> 16,x ; Kp -> 18,x ; Md -> 20,x ; Mp -> 22,x 001B _main:: 001B BD0000 jsr __enterb 001E 98 .byte 0x98 001F .dbfile finally.c 001F .dbfunc main 001F .dbline 54 001F EC00 ldd 0,x 0021 C3000A addd #10 0024 18CE000E ldy #L17 0028 3C pshx 0029 8F xgdx 002A CC0006 ldd #6 002D BD0000 jsr __asgnblk 0030 38 pulx 0031 .dbline 57 0031 EC00 ldd 0,x 0033 C30003 addd #3 0036 18CE0014 ldy #L18 003A 3C pshx 003B 8F xgdx 003C CC0007 ldd #7 003F BD0000 jsr __asgnblk 0042 38 pulx 0043 .dbline 59 0043 18CE1026 ldy #0x1026 0047 181C0080 bset 0,y,#128 004B .dbline 60 004B 18CE1026 ldy #0x1026 004F 181D0003 bclr 0,y,#0x3 0053 .dbline 61 0053 18CE1024 ldy #0x1024 0057 181C0040 bset 0,y,#64 005B .dbline 63 005B BD0118 jsr _init_pulse 005E .dbline 64 005E BD0000 jsr _init_analog 0061 .dbline 65 0061 BD0000 jsr _init_serial 0064 .dbline 70 0064 CC035D ldd #L19 0067 BD0000 jsr _printf 006A .dbline 75 006A CC0335 ldd #L20 006D BD0000 jsr _printf 0070 .dbline 78 0070 CC0318 ldd #L21 0073 BD0000 jsr _printf 0076 .dbline 79 0076 BD0000 jsr _read_int 0079 ED12 std 18,x 007B .dbline 80 007B CC02FD ldd #L22 007E BD0000 jsr _printf 0081 .dbline 81 0081 BD0000 jsr _read_int 0084 ED10 std 16,x 0086 0E cli 0087 .dbline 83 0087 CC0096 ldd #150 008A FD0008 std _desired 008D 7E010D jmp L24 0090 L23: 0090 .dbline 91 0090 EC12 ldd 18,x 0092 18FE0002 ldy _error 0096 BD0000 jsr __muli 0099 ED16 std 22,x 009B .dbline 93 009B FC0002 ldd _error 009E B30004 subd _error+2 00A1 188F xgdy 00A3 EC10 ldd 16,x 00A5 BD0000 jsr __muli 00A8 ED14 std 20,x 00AA .dbline 95 00AA EC16 ldd 22,x 00AC E314 addd 20,x 00AE BD0000 jsr __d2lreg 00B1 18CE0000 ldy #_period 00B5 BD0000 jsr __lreg2y 00B8 .dbline 96 00B8 18CE0000 ldy #_period 00BC BD0000 jsr __ly2reg 00BF 18CE02F9 ldy #L27 00C3 BD0000 jsr __ly2reg2 00C6 BD0000 jsr __ldiv 00C9 18CE0004 ldy #_duty_cycle 00CD BD0000 jsr __lreg2y 00D0 .dbline 98 00D0 18CE0004 ldy #_duty_cycle 00D4 BD0000 jsr __ly2reg 00D7 18CE02F5 ldy #L30 00DB BD0000 jsr __ly2reg2 00DE BD0000 jsr __lcmp 00E1 2C22 bge L28 00E3 .dbline 100 00E3 18CE02F1 ldy #L31 00E7 BD0000 jsr __ly2reg 00EA 18CE0004 ldy #_duty_cycle 00EE BD0000 jsr __ly2reg2 00F1 BD0000 jsr __lmul 00F4 18CE0004 ldy #_duty_cycle 00F8 BD0000 jsr __lreg2y 00FB .dbline 101 00FB 18CE1000 ldy #0x1000 00FF 181D0020 bclr 0,y,#0x20 0103 .dbline 102 0103 2008 bra L29 0105 L28: 0105 .dbline 105 0105 18CE1000 ldy #0x1000 0109 181C0020 bset 0,y,#32 010D .dbline 106 010D L29: 010D .dbline 108 010D L24: 010D .dbline 87 010D 7E0090 jmp L23 0110 L16: 0110 8F xgdx 0111 C30018 addd #24 0114 8F xgdx 0115 35 txs 0116 38 pulx 0117 39 rts ; IX -> 0,x 0118 _init_pulse:: 0118 0F sei 0119 .dbfunc init_pulse 0119 .dbline 122 0119 18CE1020 ldy #0x1020 011D 181C0080 bset 0,y,#128 0121 .dbline 123 0121 18CE1020 ldy #0x1020 0125 181D0040 bclr 0,y,#0x40 0129 .dbline 124 0129 CC0000 ldd #0 012C FD1018 std 0x1018 012F .dbline 125 012F 18CE1022 ldy #0x1022 0133 181C0040 bset 0,y,#64 0137 .dbline 128 0137 CC02DD ldd #L33 013A BD0000 jsr _printf 013D .dbline 129 013D L32: 013D 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 013E _TOC2_isr:: 013E BD0000 jsr __enterb 0141 82 .byte 0x82 0142 .dbfunc TOC2_isr 0142 .dbline 138 0142 18CE0004 ldy #_duty_cycle 0146 BD0000 jsr __ly2reg 0149 18CE02D9 ldy #L37 014D BD0000 jsr __ly2reg2 0150 BD0000 jsr __lcmp 0153 2E29 bgt L35 0155 .dbline 141 0155 18CE1020 ldy #0x1020 0159 181C0080 bset 0,y,#128 015D .dbline 142 015D 18CE1020 ldy #0x1020 0161 181D0040 bclr 0,y,#0x40 0165 .dbline 143 0165 18CE0000 ldy #_period 0169 BD0000 jsr __ly2reg2 ; vol 016C FC1018 ldd 0x1018 016F BD0000 jsr __ud2lreg 0172 BD0000 jsr __ladd 0175 BD0000 jsr __lreg2d 0178 FD1018 std 0x1018 017B .dbline 144 017B 7E021F jmp L36 017E L35: 017E .dbline 146 017E 18CE0000 ldy #_period 0182 BD0000 jsr __ly2reg 0185 18CE0004 ldy #_duty_cycle 0189 BD0000 jsr __ly2reg2 018C BD0000 jsr __lsub 018F 18CE02D9 ldy #L37 0193 BD0000 jsr __ly2reg2 0196 BD0000 jsr __lcmp 0199 2E28 bgt L38 019B .dbline 148 019B 18CE1020 ldy #0x1020 019F 181D0080 bclr 0,y,#0x80 01A3 .dbline 149 01A3 18CE1020 ldy #0x1020 01A7 181C0040 bset 0,y,#64 01AB .dbline 150 01AB 18CE0000 ldy #_period 01AF BD0000 jsr __ly2reg2 ; vol 01B2 FC1018 ldd 0x1018 01B5 BD0000 jsr __ud2lreg 01B8 BD0000 jsr __ladd 01BB BD0000 jsr __lreg2d 01BE FD1018 std 0x1018 01C1 .dbline 151 01C1 205C bra L39 01C3 L38: 01C3 .dbline 155 01C3 18CE1020 ldy #0x1020 01C7 181F004028 brclr 0,y,#64,L40 01CC .dbline 157 ; { ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt 01CC 18CE1020 ldy #0x1020 01D0 181D0040 bclr 0,y,#0x40 01D4 .dbline 158 ; SET_BIT(TCTL1, 0X80); 01D4 18CE1020 ldy #0x1020 01D8 181C0080 bset 0,y,#128 01DC .dbline 159 ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high 01DC 18CE0004 ldy #_duty_cycle 01E0 BD0000 jsr __ly2reg2 ; vol 01E3 FC1018 ldd 0x1018 01E6 BD0000 jsr __ud2lreg 01E9 BD0000 jsr __ladd 01EC BD0000 jsr __lreg2d 01EF FD1018 std 0x1018 01F2 .dbline 160 ; } 01F2 202B bra L41 01F4 L40: 01F4 .dbline 164 ; ; else //if(!(TCTL1 & 0x40)) //Test bit 6. If it is low, you are now low and must change to go high ; { ; SET_BIT(TCTL1, 0xC0); //Set bit 6 to go high next interrupt 01F4 18CE1020 ldy #0x1020 01F8 181C00C0 bset 0,y,#192 01FC .dbline 165 ; TOC2 += (period - duty_cycle); 01FC 18CE0000 ldy #_period 0200 BD0000 jsr __ly2reg 0203 18CE0004 ldy #_duty_cycle 0207 BD0000 jsr __ly2reg2 020A BD0000 jsr __lsub 020D BD0000 jsr __lregmov ; vol 0210 FC1018 ldd 0x1018 0213 BD0000 jsr __ud2lreg 0216 BD0000 jsr __ladd 0219 BD0000 jsr __lreg2d 021C FD1018 std 0x1018 021F .dbline 166 ; } 021F L41: 021F .dbline 167 ; } 021F L39: 021F L36: 021F .dbline 170 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 021F 18CE1023 ldy #0x1023 0223 181D00BF bclr 0,y,#0xbf 0227 .dbline 171 ; } //This is the end of the interrupt routine 0227 L34: 0227 08 inx 0228 08 inx 0229 35 txs 022A 38 pulx 022B 3B rti ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x 022C _RTI_isr:: 022C BD0000 jsr __enterb 022F 84 .byte 0x84 0230 .dbfunc RTI_isr 0230 .dbline 175 ; ; void RTI_isr(void) ; { ; printf("%d\n", valve_sensor); 0230 CC0001 ldd #1 0233 BD0000 jsr _analog 0236 37 pshb 0237 36 psha 0238 CC02D5 ldd #L43 023B BD0000 jsr _printf 023E 1838 puly 0240 .dbline 176 ; error[2] = error[1]; 0240 FC0004 ldd _error+2 0243 FD0006 std _error+4 0246 .dbline 177 ; error[1] = error[0]; 0246 FC0002 ldd _error 0249 FD0004 std _error+2 024C .dbline 178 ; error[0] = desired - valve_sensor; 024C CC0001 ldd #1 024F BD0000 jsr _analog 0252 ED02 std 2,x 0254 FC0008 ldd _desired 0257 A302 subd 2,x 0259 FD0002 std _error 025C .dbline 179 ; count += 1; 025C 18CE000A ldy #_count 0260 BD0000 jsr __ly2reg 0263 18CE02D1 ldy #L47 0267 BD0000 jsr __ly2reg2 026A BD0000 jsr __ladd 026D 18CE000A ldy #_count 0271 BD0000 jsr __lreg2y 0274 .dbline 180 ; if (count >=500) 0274 18CE000A ldy #_count 0278 BD0000 jsr __ly2reg 027B 18CE02CD ldy #L50 027F BD0000 jsr __ly2reg2 0282 BD0000 jsr __lcmp 0285 2D2E blt L48 0287 .dbline 182 ; { ; count = 0; 0287 18CE02F5 ldy #L30 028B BD0000 jsr __ly2reg 028E 18CE000A ldy #_count 0292 BD0000 jsr __lreg2y 0295 .dbline 183 ; if (desired == 150) 0295 FC0008 ldd _desired 0298 1A830096 cpd #150 029C 2608 bne L51 029E .dbline 185 ; { ; desired = 100; 029E CC0064 ldd #100 02A1 FD0008 std _desired 02A4 .dbline 186 ; } 02A4 200F bra L52 02A6 L51: 02A6 .dbline 188 ; ; else if (desired == 100) 02A6 FC0008 ldd _desired 02A9 1A830064 cpd #100 02AD 2606 bne L53 02AF .dbline 190 ; { ; desired = 150; 02AF CC0096 ldd #150 02B2 FD0008 std _desired 02B5 .dbline 191 ; } 02B5 L53: 02B5 L52: 02B5 .dbline 192 ; } 02B5 L48: 02B5 .dbline 193 ; CLEAR_FLAG(TFLG2, 0x40); 02B5 18CE1025 ldy #0x1025 02B9 181D00BF bclr 0,y,#0xbf 02BD .dbline 194 ; } 02BD L42: 02BD 08 inx 02BE 08 inx 02BF 08 inx 02C0 08 inx 02C1 35 txs 02C2 38 pulx 02C3 3B rti ; IX -> 0,x 02C4 _TOF_isr:: 02C4 .dbfunc TOF_isr 02C4 .dbline 198 ; ; void TOF_isr(void) ; { ; CLEAR_FLAG(TFLG1, 0x80); 02C4 18CE1023 ldy #0x1023 02C8 181D007F bclr 0,y,#0x7f 02CC .dbline 199 ; } 02CC L55: 02CC 3B rti .area bss 0000 _period:: 0000 .blkb 4 0004 _duty_cycle:: 0004 .blkb 4 0008 _timertjp:: 0008 .blkb 2 000A _days:: 000A .blkb 2 000C _hours:: 000C .blkb 2 000E _minutes:: 000E .blkb 2 0010 _seconds:: 0010 .blkb 2 0012 _msec:: 0012 .blkb 2 .area text 02CD L50: 02CD 000001F4 .word 0,500 02D1 L47: 02D1 00000001 .word 0,1 02D5 L43: 02D5 25640A00 .byte 37,'d,10,0 02D9 L37: 02D9 00000064 .word 0,100 02DD L33: 02DD 456E64206F6620496E69742070756C73 .byte 'E,'n,'d,32,'o,'f,32,'I,'n,'i,'t,32,'p,'u,'l,'s 02ED 650A0A00 .byte 'e,10,10,0 02F1 L31: 02F1 FFFFFFFF .word 65535,65535 02F5 L30: 02F5 00000000 .word 0,0 02F9 L27: 02F9 00000002 .word 0,2 02FD L22: 02FD 456E7465722074686520646572697661 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'r,'i,'v,'a 030D 74697665206761696E0A00 .byte 't,'i,'v,'e,32,'g,'a,'i,'n,10,0 0318 L21: 0318 456E746572207468652070726F706F72 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'p,'r,'o,'p,'o,'r 0328 74696F6E616C206761696E0A00 .byte 't,'i,'o,'n,'a,'l,32,'g,'a,'i,'n,10,0 0335 L20: 0335 504E45554D415449432043594C494E44 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D 0345 455220444941474E4F53544943205052 .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R 0355 4F4752414D0A0A00 .byte 'O,'G,'R,'A,'M,10,10,0 035D L19: 035D 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 036D 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 037D 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 038D 653A09094D617263682C20323030300A .byte 'e,58,9,9,'M,'a,'r,'c,'h,44,32,50,48,48,48,10 039D 0956657273696F6E0909310A0A00 .byte 9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0