.module finally.c --- 0000 .dbfile finally.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .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 **********************/ 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .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 **************************************/ 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .dbline 53 ; ; void main(void) ; { ; int Mp, Md; ; int Kp, Kd; ; /* VT100 clear screen */ 9815 L4: 9815 3B rti ; IX -> 0,x 9816 _PAV_isr:: 9816 .dbfunc PAV_isr 9816 .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); 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOC3_isr:: 9817 .dbfunc TOC3_isr 9817 .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) ; { ; 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TIC3_isr:: 9818 .dbfunc TIC3_isr 9818 .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); 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC2_isr:: 9819 .dbfunc TIC2_isr 9819 .dbline 107 ; } ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC1_isr:: 981A .dbfunc TIC1_isr 981A .dbline 113 ; }/*End While*/ ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ 981A L9: 981A 3B rti ; IX -> 0,x 981B _IRQ_isr:: 981B .dbfunc IRQ_isr 981B .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 981B L10: 981B 3B rti ; IX -> 0,x 981C _XIRQ_isr:: 981C .dbfunc XIRQ_isr 981C .dbline 131 ; //INTR_ON(); ; ; printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() 981C L11: 981C 3B rti ; IX -> 0,x 981D _SWI_isr:: 981D .dbfunc SWI_isr 981D .dbline 137 ; { //printf("ISR\n"); ; ; ; //enable toggle ; //CLEAR_BIT(TCTL1, 0x80); ; //SET_BIT(TCTL1, 0x40); 981D L12: 981D 3B rti ; IX -> 0,x 981E _ILLOP_isr:: 981E .dbfunc ILLOP_isr 981E .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 981E L13: 981E 3B rti ; IX -> 0,x 981F _COP_isr:: 981F .dbfunc COP_isr 981F .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); 981F L14: 981F 3B rti ; IX -> 0,x 9820 _CLMON_isr:: 9820 .dbfunc CLMON_isr 9820 .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 9820 L15: 9820 3B rti .area data 9BCC _drew:: 9BCC .blkw 1 .area idata --- 0000 0000 .word _interrupt_vectors .area data 9BCE _error:: 9BCE .blkb 2 .area idata --- 0002 0000 .word 0 .area data --- 0004 .blkb 4 .area idata --- 0004 00000000 .byte 0,0,0,0 .area data 9BD4 _desired:: 9BD4 .blkb 2 .area idata --- 0008 0096 .word 150 .area data 9BD6 _count:: 9BD6 .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 982E _main:: 982E BD86BA jsr __enterb 9831 98 .byte 0x98 9832 .dbfile finally.c 9832 .dbfunc main 9832 .dbline 54 9832 EC00 ldd 0,x 9834 C3000A addd #10 9837 18CE9821 ldy #L17 983B 3C pshx 983C 8F xgdx 983D CC0006 ldd #6 9840 BD86A2 jsr __asgnblk 9843 38 pulx 9844 .dbline 57 9844 EC00 ldd 0,x 9846 C30003 addd #3 9849 18CE9827 ldy #L18 984D 3C pshx 984E 8F xgdx 984F CC0007 ldd #7 9852 BD86A2 jsr __asgnblk 9855 38 pulx 9856 .dbline 59 9856 18CE1026 ldy #0x1026 985A 181C0080 bset 0,y,#128 985E .dbline 60 985E 18CE1026 ldy #0x1026 9862 181D0003 bclr 0,y,#0x3 9866 .dbline 61 9866 18CE1024 ldy #0x1024 986A 181C0040 bset 0,y,#64 986E .dbline 63 986E BD992B jsr _init_pulse 9871 .dbline 64 9871 BD813B jsr _init_analog 9874 .dbline 65 9874 BD8381 jsr _init_serial 9877 .dbline 70 9877 CC9B70 ldd #L19 987A BD9442 jsr _printf 987D .dbline 75 987D CC9B48 ldd #L20 9880 BD9442 jsr _printf 9883 .dbline 78 9883 CC9B2B ldd #L21 9886 BD9442 jsr _printf 9889 .dbline 79 9889 BD856F jsr _read_int 988C ED12 std 18,x 988E .dbline 80 988E CC9B10 ldd #L22 9891 BD9442 jsr _printf 9894 .dbline 81 9894 BD856F jsr _read_int 9897 ED10 std 16,x 9899 0E cli 989A .dbline 83 989A CC0096 ldd #150 989D FD9BD4 std _desired 98A0 7E9920 jmp L24 98A3 L23: 98A3 .dbline 91 98A3 EC12 ldd 18,x 98A5 18FE9BCE ldy _error 98A9 BD8669 jsr __muli 98AC ED16 std 22,x 98AE .dbline 93 98AE FC9BCE ldd _error 98B1 B39BD0 subd _error+2 98B4 188F xgdy 98B6 EC10 ldd 16,x 98B8 BD8669 jsr __muli 98BB ED14 std 20,x 98BD .dbline 95 98BD EC16 ldd 22,x 98BF E314 addd 20,x 98C1 BD8987 jsr __d2lreg 98C4 18CE9BF1 ldy #_period 98C8 BD8935 jsr __lreg2y 98CB .dbline 96 98CB 18CE9BF1 ldy #_period 98CF BD88F8 jsr __ly2reg 98D2 18CE9B0C ldy #L27 98D6 BD891E jsr __ly2reg2 98D9 BD8B95 jsr __ldiv 98DC 18CE9BF5 ldy #_duty_cycle 98E0 BD8935 jsr __lreg2y 98E3 .dbline 98 98E3 18CE9BF5 ldy #_duty_cycle 98E7 BD88F8 jsr __ly2reg 98EA 18CE9B08 ldy #L30 98EE BD891E jsr __ly2reg2 98F1 BD8D86 jsr __lcmp 98F4 2C22 bge L28 98F6 .dbline 100 98F6 18CE9B04 ldy #L31 98FA BD88F8 jsr __ly2reg 98FD 18CE9BF5 ldy #_duty_cycle 9901 BD891E jsr __ly2reg2 9904 BD8ACD jsr __lmul 9907 18CE9BF5 ldy #_duty_cycle 990B BD8935 jsr __lreg2y 990E .dbline 101 990E 18CE1000 ldy #0x1000 9912 181D0020 bclr 0,y,#0x20 9916 .dbline 102 9916 2008 bra L29 9918 L28: 9918 .dbline 105 9918 18CE1000 ldy #0x1000 991C 181C0020 bset 0,y,#32 9920 .dbline 106 9920 L29: 9920 .dbline 108 9920 L24: 9920 .dbline 87 9920 7E98A3 jmp L23 9923 L16: 9923 8F xgdx 9924 C30018 addd #24 9927 8F xgdx 9928 35 txs 9929 38 pulx 992A 39 rts ; IX -> 0,x 992B _init_pulse:: 992B 0F sei 992C .dbfunc init_pulse 992C .dbline 122 992C 18CE1020 ldy #0x1020 9930 181C0080 bset 0,y,#128 9934 .dbline 123 9934 18CE1020 ldy #0x1020 9938 181D0040 bclr 0,y,#0x40 993C .dbline 124 993C CC0000 ldd #0 993F FD1018 std 0x1018 9942 .dbline 125 9942 18CE1022 ldy #0x1022 9946 181C0040 bset 0,y,#64 994A .dbline 128 994A CC9AF0 ldd #L33 994D BD9442 jsr _printf 9950 .dbline 129 9950 L32: 9950 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 9951 _TOC2_isr:: 9951 BD86BA jsr __enterb 9954 82 .byte 0x82 9955 .dbfunc TOC2_isr 9955 .dbline 138 9955 18CE9BF5 ldy #_duty_cycle 9959 BD88F8 jsr __ly2reg 995C 18CE9AEC ldy #L37 9960 BD891E jsr __ly2reg2 9963 BD8D86 jsr __lcmp 9966 2E29 bgt L35 9968 .dbline 141 9968 18CE1020 ldy #0x1020 996C 181C0080 bset 0,y,#128 9970 .dbline 142 9970 18CE1020 ldy #0x1020 9974 181D0040 bclr 0,y,#0x40 9978 .dbline 143 9978 18CE9BF1 ldy #_period 997C BD891E jsr __ly2reg2 ; vol 997F FC1018 ldd 0x1018 9982 BD89B9 jsr __ud2lreg 9985 BD8A84 jsr __ladd 9988 BD89DF jsr __lreg2d 998B FD1018 std 0x1018 998E .dbline 144 998E 7E9A32 jmp L36 9991 L35: 9991 .dbline 146 9991 18CE9BF1 ldy #_period 9995 BD88F8 jsr __ly2reg 9998 18CE9BF5 ldy #_duty_cycle 999C BD891E jsr __ly2reg2 999F BD8A9F jsr __lsub 99A2 18CE9AEC ldy #L37 99A6 BD891E jsr __ly2reg2 99A9 BD8D86 jsr __lcmp 99AC 2E28 bgt L38 99AE .dbline 148 99AE 18CE1020 ldy #0x1020 99B2 181D0080 bclr 0,y,#0x80 99B6 .dbline 149 99B6 18CE1020 ldy #0x1020 99BA 181C0040 bset 0,y,#64 99BE .dbline 150 99BE 18CE9BF1 ldy #_period 99C2 BD891E jsr __ly2reg2 ; vol 99C5 FC1018 ldd 0x1018 99C8 BD89B9 jsr __ud2lreg 99CB BD8A84 jsr __ladd 99CE BD89DF jsr __lreg2d 99D1 FD1018 std 0x1018 99D4 .dbline 151 99D4 205C bra L39 99D6 L38: 99D6 .dbline 155 99D6 18CE1020 ldy #0x1020 99DA 181F004028 brclr 0,y,#64,L40 99DF .dbline 157 ; { ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt 99DF 18CE1020 ldy #0x1020 99E3 181D0040 bclr 0,y,#0x40 99E7 .dbline 158 ; SET_BIT(TCTL1, 0X80); 99E7 18CE1020 ldy #0x1020 99EB 181C0080 bset 0,y,#128 99EF .dbline 159 ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high 99EF 18CE9BF5 ldy #_duty_cycle 99F3 BD891E jsr __ly2reg2 ; vol 99F6 FC1018 ldd 0x1018 99F9 BD89B9 jsr __ud2lreg 99FC BD8A84 jsr __ladd 99FF BD89DF jsr __lreg2d 9A02 FD1018 std 0x1018 9A05 .dbline 160 ; } 9A05 202B bra L41 9A07 L40: 9A07 .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 9A07 18CE1020 ldy #0x1020 9A0B 181C00C0 bset 0,y,#192 9A0F .dbline 165 ; TOC2 += (period - duty_cycle); 9A0F 18CE9BF1 ldy #_period 9A13 BD88F8 jsr __ly2reg 9A16 18CE9BF5 ldy #_duty_cycle 9A1A BD891E jsr __ly2reg2 9A1D BD8A9F jsr __lsub 9A20 BD8972 jsr __lregmov ; vol 9A23 FC1018 ldd 0x1018 9A26 BD89B9 jsr __ud2lreg 9A29 BD8A84 jsr __ladd 9A2C BD89DF jsr __lreg2d 9A2F FD1018 std 0x1018 9A32 .dbline 166 ; } 9A32 L41: 9A32 .dbline 167 ; } 9A32 L39: 9A32 L36: 9A32 .dbline 170 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 9A32 18CE1023 ldy #0x1023 9A36 181D00BF bclr 0,y,#0xbf 9A3A .dbline 171 ; } //This is the end of the interrupt routine 9A3A L34: 9A3A 08 inx 9A3B 08 inx 9A3C 35 txs 9A3D 38 pulx 9A3E 3B rti ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x 9A3F _RTI_isr:: 9A3F BD86BA jsr __enterb 9A42 84 .byte 0x84 9A43 .dbfunc RTI_isr 9A43 .dbline 175 ; ; void RTI_isr(void) ; { ; printf("%d\n", valve_sensor); 9A43 CC0001 ldd #1 9A46 BD8144 jsr _analog 9A49 37 pshb 9A4A 36 psha 9A4B CC9AE8 ldd #L43 9A4E BD9442 jsr _printf 9A51 1838 puly 9A53 .dbline 176 ; error[2] = error[1]; 9A53 FC9BD0 ldd _error+2 9A56 FD9BD2 std _error+4 9A59 .dbline 177 ; error[1] = error[0]; 9A59 FC9BCE ldd _error 9A5C FD9BD0 std _error+2 9A5F .dbline 178 ; error[0] = desired - valve_sensor; 9A5F CC0001 ldd #1 9A62 BD8144 jsr _analog 9A65 ED02 std 2,x 9A67 FC9BD4 ldd _desired 9A6A A302 subd 2,x 9A6C FD9BCE std _error 9A6F .dbline 179 ; count += 1; 9A6F 18CE9BD6 ldy #_count 9A73 BD88F8 jsr __ly2reg 9A76 18CE9AE4 ldy #L47 9A7A BD891E jsr __ly2reg2 9A7D BD8A84 jsr __ladd 9A80 18CE9BD6 ldy #_count 9A84 BD8935 jsr __lreg2y 9A87 .dbline 180 ; if (count >=500) 9A87 18CE9BD6 ldy #_count 9A8B BD88F8 jsr __ly2reg 9A8E 18CE9AE0 ldy #L50 9A92 BD891E jsr __ly2reg2 9A95 BD8D86 jsr __lcmp 9A98 2D2E blt L48 9A9A .dbline 182 ; { ; count = 0; 9A9A 18CE9B08 ldy #L30 9A9E BD88F8 jsr __ly2reg 9AA1 18CE9BD6 ldy #_count 9AA5 BD8935 jsr __lreg2y 9AA8 .dbline 183 ; if (desired == 150) 9AA8 FC9BD4 ldd _desired 9AAB 1A830096 cpd #150 9AAF 2608 bne L51 9AB1 .dbline 185 ; { ; desired = 100; 9AB1 CC0064 ldd #100 9AB4 FD9BD4 std _desired 9AB7 .dbline 186 ; } 9AB7 200F bra L52 9AB9 L51: 9AB9 .dbline 188 ; ; else if (desired == 100) 9AB9 FC9BD4 ldd _desired 9ABC 1A830064 cpd #100 9AC0 2606 bne L53 9AC2 .dbline 190 ; { ; desired = 150; 9AC2 CC0096 ldd #150 9AC5 FD9BD4 std _desired 9AC8 .dbline 191 ; } 9AC8 L53: 9AC8 L52: 9AC8 .dbline 192 ; } 9AC8 L48: 9AC8 .dbline 193 ; CLEAR_FLAG(TFLG2, 0x40); 9AC8 18CE1025 ldy #0x1025 9ACC 181D00BF bclr 0,y,#0xbf 9AD0 .dbline 194 ; } 9AD0 L42: 9AD0 08 inx 9AD1 08 inx 9AD2 08 inx 9AD3 08 inx 9AD4 35 txs 9AD5 38 pulx 9AD6 3B rti ; IX -> 0,x 9AD7 _TOF_isr:: 9AD7 .dbfunc TOF_isr 9AD7 .dbline 198 ; ; void TOF_isr(void) ; { ; CLEAR_FLAG(TFLG1, 0x80); 9AD7 18CE1023 ldy #0x1023 9ADB 181D007F bclr 0,y,#0x7f 9ADF .dbline 199 ; } 9ADF L55: 9ADF 3B rti .area bss 9BF1 _period:: 9BF1 .blkb 4 9BF5 _duty_cycle:: 9BF5 .blkb 4 9BF9 _timertjp:: 9BF9 .blkb 2 9BFB _days:: 9BFB .blkb 2 9BFD _hours:: 9BFD .blkb 2 9BFF _minutes:: 9BFF .blkb 2 9C01 _seconds:: 9C01 .blkb 2 9C03 _msec:: 9C03 .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