.module finally.c .dbfile finally.c .area text ; IX -> 0,x _SCI_isr:: .dbfile C:\ICCTJP\include/isrdecl.h .dbfunc SCI_isr .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 **********************/ L2: rti ; IX -> 0,x _SPI_isr:: .dbfunc SPI_isr .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 **************************************/ L3: rti ; IX -> 0,x _PAIE_isr:: .dbfunc PAIE_isr .dbline 53 ; ; void main(void) ; { ; int Mp, Md; ; int Kp, Kd; ; /* VT100 clear screen */ L4: rti ; IX -> 0,x _PAV_isr:: .dbfunc PAV_isr .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); L5: rti ; IX -> 0,x _TOC3_isr:: .dbfunc TOC3_isr .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) ; { ; L6: rti ; IX -> 0,x _TIC3_isr:: .dbfunc TIC3_isr .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); L7: rti ; IX -> 0,x _TIC2_isr:: .dbfunc TIC2_isr .dbline 107 ; } ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; L8: rti ; IX -> 0,x _TIC1_isr:: .dbfunc TIC1_isr .dbline 113 ; }/*End While*/ ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ L9: rti ; IX -> 0,x _IRQ_isr:: .dbfunc IRQ_isr .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 L10: rti ; IX -> 0,x _XIRQ_isr:: .dbfunc XIRQ_isr .dbline 131 ; //INTR_ON(); ; ; printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() L11: rti ; IX -> 0,x _SWI_isr:: .dbfunc SWI_isr .dbline 137 ; { //printf("ISR\n"); ; ; ; //enable toggle ; //CLEAR_BIT(TCTL1, 0x80); ; //SET_BIT(TCTL1, 0x40); L12: rti ; IX -> 0,x _ILLOP_isr:: .dbfunc ILLOP_isr .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 L13: rti ; IX -> 0,x _COP_isr:: .dbfunc COP_isr .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); L14: rti ; IX -> 0,x _CLMON_isr:: .dbfunc CLMON_isr .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 L15: rti .area data _drew:: .blkw 1 .area idata .word _interrupt_vectors .area data _error:: .blkb 2 .area idata .word 0 .area data .blkb 4 .area idata .byte 0,0,0,0 .area data _desired:: .blkb 2 .area idata .word 150 .area data _count:: .blkb 4 .area idata .word 0,0 .area text L17: .byte 27,91,50,'J,4,0 L18: .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 _main:: jsr __enterb .byte 0x98 .dbfile finally.c .dbfunc main .dbline 54 ldd 0,x addd #10 ldy #L17 pshx xgdx ldd #6 jsr __asgnblk pulx .dbline 57 ldd 0,x addd #3 ldy #L18 pshx xgdx ldd #7 jsr __asgnblk pulx .dbline 59 ldy #0x1026 bset 0,y,#128 .dbline 60 ldy #0x1026 bclr 0,y,#0x3 .dbline 61 ldy #0x1024 bset 0,y,#64 .dbline 63 jsr _init_pulse .dbline 64 jsr _init_analog .dbline 65 jsr _init_serial .dbline 70 ldd #L19 jsr _printf .dbline 75 ldd #L20 jsr _printf .dbline 78 ldd #L21 jsr _printf .dbline 79 jsr _read_int std 18,x .dbline 80 ldd #L22 jsr _printf .dbline 81 jsr _read_int std 16,x cli .dbline 83 ldd #150 std _desired jmp L24 L23: .dbline 91 ldd 18,x ldy _error jsr __muli std 22,x .dbline 93 ldd _error subd _error+2 xgdy ldd 16,x jsr __muli std 20,x .dbline 95 ldd 22,x addd 20,x jsr __d2lreg ldy #_period jsr __lreg2y .dbline 96 ldy #_period jsr __ly2reg ldy #L27 jsr __ly2reg2 jsr __ldiv ldy #_duty_cycle jsr __lreg2y .dbline 98 ldy #_duty_cycle jsr __ly2reg ldy #L30 jsr __ly2reg2 jsr __lcmp bge L28 .dbline 100 ldy #L31 jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lmul ldy #_duty_cycle jsr __lreg2y .dbline 101 ldy #0x1000 bclr 0,y,#0x20 .dbline 102 bra L29 L28: .dbline 105 ldy #0x1000 bset 0,y,#32 .dbline 106 L29: .dbline 108 L24: .dbline 87 jmp L23 L16: xgdx addd #24 xgdx txs pulx rts ; IX -> 0,x _init_pulse:: sei .dbfunc init_pulse .dbline 122 ldy #0x1020 bset 0,y,#128 .dbline 123 ldy #0x1020 bclr 0,y,#0x40 .dbline 124 ldd #0 std 0x1018 .dbline 125 ldy #0x1022 bset 0,y,#64 .dbline 128 ldd #L33 jsr _printf .dbline 129 L32: rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x _TOC2_isr:: jsr __enterb .byte 0x82 .dbfunc TOC2_isr .dbline 138 ldy #_duty_cycle jsr __ly2reg ldy #L37 jsr __ly2reg2 jsr __lcmp bgt L35 .dbline 141 ldy #0x1020 bset 0,y,#128 .dbline 142 ldy #0x1020 bclr 0,y,#0x40 .dbline 143 ldy #_period jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 144 jmp L36 L35: .dbline 146 ldy #_period jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lsub ldy #L37 jsr __ly2reg2 jsr __lcmp bgt L38 .dbline 148 ldy #0x1020 bclr 0,y,#0x80 .dbline 149 ldy #0x1020 bset 0,y,#64 .dbline 150 ldy #_period jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 151 bra L39 L38: .dbline 155 ldy #0x1020 brclr 0,y,#64,L40 .dbline 157 ; { ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt ldy #0x1020 bclr 0,y,#0x40 .dbline 158 ; SET_BIT(TCTL1, 0X80); ldy #0x1020 bset 0,y,#128 .dbline 159 ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high ldy #_duty_cycle jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 160 ; } bra L41 L40: .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 ldy #0x1020 bset 0,y,#192 .dbline 165 ; TOC2 += (period - duty_cycle); ldy #_period jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lsub jsr __lregmov ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 166 ; } L41: .dbline 167 ; } L39: L36: .dbline 170 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag ldy #0x1023 bclr 0,y,#0xbf .dbline 171 ; } //This is the end of the interrupt routine L34: inx inx txs pulx rti ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x _RTI_isr:: jsr __enterb .byte 0x84 .dbfunc RTI_isr .dbline 175 ; ; void RTI_isr(void) ; { ; printf("%d\n", valve_sensor); ldd #1 jsr _analog pshb psha ldd #L43 jsr _printf puly .dbline 176 ; error[2] = error[1]; ldd _error+2 std _error+4 .dbline 177 ; error[1] = error[0]; ldd _error std _error+2 .dbline 178 ; error[0] = desired - valve_sensor; ldd #1 jsr _analog std 2,x ldd _desired subd 2,x std _error .dbline 179 ; count += 1; ldy #_count jsr __ly2reg ldy #L47 jsr __ly2reg2 jsr __ladd ldy #_count jsr __lreg2y .dbline 180 ; if (count >=500) ldy #_count jsr __ly2reg ldy #L50 jsr __ly2reg2 jsr __lcmp blt L48 .dbline 182 ; { ; count = 0; ldy #L30 jsr __ly2reg ldy #_count jsr __lreg2y .dbline 183 ; if (desired == 150) ldd _desired cpd #150 bne L51 .dbline 185 ; { ; desired = 100; ldd #100 std _desired .dbline 186 ; } bra L52 L51: .dbline 188 ; ; else if (desired == 100) ldd _desired cpd #100 bne L53 .dbline 190 ; { ; desired = 150; ldd #150 std _desired .dbline 191 ; } L53: L52: .dbline 192 ; } L48: .dbline 193 ; CLEAR_FLAG(TFLG2, 0x40); ldy #0x1025 bclr 0,y,#0xbf .dbline 194 ; } L42: inx inx inx inx txs pulx rti ; IX -> 0,x _TOF_isr:: .dbfunc TOF_isr .dbline 198 ; ; void TOF_isr(void) ; { ; CLEAR_FLAG(TFLG1, 0x80); ldy #0x1023 bclr 0,y,#0x7f .dbline 199 ; } L55: rti .area bss _period:: .blkb 4 _duty_cycle:: .blkb 4 _timertjp:: .blkb 2 _days:: .blkb 2 _hours:: .blkb 2 _minutes:: .blkb 2 _seconds:: .blkb 2 _msec:: .blkb 2 .area text L50: .word 0,500 L47: .word 0,1 L43: .byte 37,'d,10,0 L37: .word 0,100 L33: .byte 'E,'n,'d,32,'o,'f,32,'I,'n,'i,'t,32,'p,'u,'l,'s .byte 'e,10,10,0 L31: .word 65535,65535 L30: .word 0,0 L27: .word 0,2 L22: .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'r,'i,'v,'a .byte 't,'i,'v,'e,32,'g,'a,'i,'n,10,0 L21: .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'p,'r,'o,'p,'o,'r .byte 't,'i,'o,'n,'a,'l,32,'g,'a,'i,'n,10,0 L20: .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R .byte 'O,'G,'R,'A,'M,10,10,0 L19: .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t .byte 'e,58,9,9,'M,'a,'r,'c,'h,44,32,50,48,48,48,10 .byte 9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0