.module finally2.c 0000 .dbfile finally2.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: February 3, 2000 * ; ************************************************************************************************************************/ ; ; /**************************** Constants *********************************/ ; #define pulse_handler TOC2_isr ; #define TOLERANCE 10 ; #define valve_sensor analog(1) ; /**************************** End of Constants **************************/ ; ; /*************************** Interrupts *********************************/ ; #pragma interrupt_handler TOC2_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 = 0; ; int gain; ; int desired; ; long count = 0; ; ; /************************ End of Global Variables ***********************/ ; ; 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .dbline 47 ; /************************** Function Declarations **********************/ ; void init_pulse(); //Initilizes TOC for PWM interrupts ; void pulse_handler(); //This is the function executed at each TOC2_isr ; /******************** End of Function Declarations *********************/ ; ; 0001 L3: 0001 3B rti ; IX -> 0,x 0002 _PAIE_isr:: 0002 .dbfunc PAIE_isr 0002 .dbline 53 ; /**************************** Main **************************************/ ; ; void main(void) ; { ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; 0002 L4: 0002 3B rti ; IX -> 0,x 0003 _PAV_isr:: 0003 .dbfunc PAV_isr 0003 .dbline 59 ; ; /* VT100 position cursor at (x,y) = (3,12) command is "\x1b[3;12H"*/ ; char place[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOF_isr:: 0004 .dbfunc TOF_isr 0004 .dbline 65 ; //SET_BIT(TMSK2, 0x40);//Enable RTI interrupt ; ; init_pulse(); ; init_analog(); ; init_serial(); ; 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TOC3_isr:: 0005 .dbfunc TOC3_isr 0005 .dbline 89 ; //printf("%s", clear); ; //printf("%s", place); ; ; printf("\tTitle:\t\tvalve.c\n" ; "\tProgrammer:\tScott Nortman\n" ; "\tDate:\t\tFebruary, 2000\n" ; "\tVersion\t\t1\n\n"); ; ; printf("PNEUMATIC CYLINDER DIAGNOSTIC PROGRAM\n\n"); ; printf("Enter the desired period in e clocks / 1000:\n"); ; period = (read_int() * 1000); ; printf("Enter the duty cycle in e clocks / 1000: \n"); ; duty_cycle = (read_int() * 1000); ; INTR_ON(); ; desired = 150; ; INTR_OFF(); ; ; ; ; while(1) ; { ; SET_BIT(TMSK1, 0x40);//Enable TOC ; ; if (desired < valve_sensor){ 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC3_isr:: 0006 .dbfunc TIC3_isr 0006 .dbline 101 ; CLEAR_BIT(PORTA, 0x20); ; } ; else if (desired> valve_sensor) { ; SET_BIT(PORTA, 0x20); ; } ; else if ((desired <= valve_sensor + TOLERANCE) && (desired >= valve_sensor - TOLERANCE)){ ; ; printf("Here\n"); ; CLEAR_BIT(TMSK1, 0x40); //Disable TOC ; } ; ; }/*End While*/ 0006 L8: 0006 3B rti ; IX -> 0,x 0007 _TIC2_isr:: 0007 .dbfunc TIC2_isr 0007 .dbline 107 ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; 0007 L9: 0007 3B rti ; IX -> 0,x 0008 _TIC1_isr:: 0008 .dbfunc TIC1_isr 0008 .dbline 113 ; ; ; /************************** Function Defintions *************************/ ; ; void init_pulse(void) ; { 0008 L10: 0008 3B rti ; IX -> 0,x 0009 _RTI_isr:: 0009 .dbfunc RTI_isr 0009 .dbline 119 ; 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 ; //INTR_ON(); 0009 L11: 0009 3B rti ; IX -> 0,x 000A _IRQ_isr:: 000A .dbfunc IRQ_isr 000A .dbline 125 ; ; printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() ; { printf("ISR"); 000A L12: 000A 3B rti ; IX -> 0,x 000B _XIRQ_isr:: 000B .dbfunc XIRQ_isr 000B .dbline 131 ; ; ; //enable toggle ; //CLEAR_BIT(TCTL1, 0x80); ; //SET_BIT(TCTL1, 0x40); ; if (duty_cycle <= 100) 000B L13: 000B 3B rti ; IX -> 0,x 000C _SWI_isr:: 000C .dbfunc SWI_isr 000C .dbline 137 ; //This handles if duty cycle is less than or equal to 50 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 ; } 000C L14: 000C 3B rti ; IX -> 0,x 000D _ILLOP_isr:: 000D .dbfunc ILLOP_isr 000D .dbline 143 ; ; 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); ; TOC2 += period; //Add period 000D L15: 000D 3B rti ; IX -> 0,x 000E _COP_isr:: 000E .dbfunc COP_isr 000E .dbline 149 ; } ; ; 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 ; { 000E L16: 000E 3B rti ; IX -> 0,x 000F _CLMON_isr:: 000F .dbfunc CLMON_isr 000F .dbline 155 ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt ; SET_BIT(TCTL1, 0X80); ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high ; } ; ; else //if(!(TCTL1 & 0x40)) //Test bit 6. If it is low, you are now low and must change to go high 000F L17: 000F 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 _count:: 0004 .blkb 4 .area idata 0004 00000000 .word 0,0 .area text 0010 L19: 0010 1B5B324A0400 .byte 27,91,50,'J,4,0 0016 L20: 0016 1B5B313B314800 .byte 27,91,49,59,49,'H,0 ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; rMEM -> 2,x ; func temp: 4,x - 12,x ; place -> 13,x ; clear -> 20,x 001D _main:: 001D BD0000 jsr __enterb 0020 9A .byte 0x9a 0021 .dbfile finally2.c 0021 .dbfunc main 0021 .dbline 53 0021 EC00 ldd 0,x 0023 C30014 addd #20 0026 18CE0010 ldy #L19 002A 3C pshx 002B 8F xgdx 002C CC0006 ldd #6 002F BD0000 jsr __asgnblk 0032 38 pulx 0033 .dbline 56 0033 EC00 ldd 0,x 0035 C3000D addd #13 0038 18CE0016 ldy #L20 003C 3C pshx 003D 8F xgdx 003E CC0007 ldd #7 0041 BD0000 jsr __asgnblk 0044 38 pulx 0045 .dbline 58 0045 18CE1026 ldy #0x1026 0049 181C0080 bset 0,y,#128 004D .dbline 59 004D 18CE1026 ldy #0x1026 0051 181D0003 bclr 0,y,#0x3 0055 .dbline 62 0055 BD012C jsr _init_pulse 0058 .dbline 63 0058 BD0000 jsr _init_analog 005B .dbline 64 005B BD0000 jsr _init_serial 005E .dbline 69 005E CC02E9 ldd #L21 0061 BD0000 jsr _printf 0064 .dbline 74 0064 CC02C1 ldd #L22 0067 BD0000 jsr _printf 006A .dbline 75 006A CC0293 ldd #L23 006D BD0000 jsr _printf 0070 .dbline 76 0070 BD0000 jsr _read_int 0073 ED04 std 4,x 0075 CC03E8 ldd #1000 0078 1AEE04 ldy 4,x 007B BD0000 jsr __muli 007E BD0000 jsr __d2lreg 0081 18CE0004 ldy #_period 0085 BD0000 jsr __lreg2y 0088 .dbline 77 0088 CC0268 ldd #L24 008B BD0000 jsr _printf 008E .dbline 78 008E BD0000 jsr _read_int 0091 ED06 std 6,x 0093 CC03E8 ldd #1000 0096 1AEE06 ldy 6,x 0099 BD0000 jsr __muli 009C BD0000 jsr __d2lreg 009F 18CE0008 ldy #_duty_cycle 00A3 BD0000 jsr __lreg2y 00A6 0E cli 00A7 .dbline 80 00A7 CC0096 ldd #150 00AA FD0000 std _desired 00AD 0F sei 00AE .dbline 81 00AE 7E0121 jmp L26 00B1 L25: 00B1 .dbline 87 00B1 18CE1022 ldy #0x1022 00B5 181C0040 bset 0,y,#64 00B9 .dbline 89 00B9 CC0001 ldd #1 00BC BD0000 jsr _analog 00BF ED08 std 8,x 00C1 FC0000 ldd _desired 00C4 1AA308 cpd 8,x 00C7 2C0A bge L28 00C9 .dbline 90 00C9 18CE1000 ldy #0x1000 00CD 181D0020 bclr 0,y,#0x20 00D1 .dbline 91 00D1 204E bra L29 00D3 L28: 00D3 .dbline 92 00D3 CC0001 ldd #1 00D6 BD0000 jsr _analog 00D9 ED0A std 10,x 00DB FC0000 ldd _desired 00DE 1AA30A cpd 10,x 00E1 2F0A ble L30 00E3 .dbline 93 00E3 18CE1000 ldy #0x1000 00E7 181C0020 bset 0,y,#32 00EB .dbline 94 00EB 2034 bra L31 00ED L30: 00ED .dbline 95 00ED CC0001 ldd #1 00F0 BD0000 jsr _analog 00F3 C3000A addd #10 00F6 ED02 std 2,x 00F8 FC0000 ldd _desired 00FB 1AA302 cpd 2,x 00FE 2E21 bgt L32 0100 CC0001 ldd #1 0103 BD0000 jsr _analog 0106 83000A subd #10 0109 ED02 std 2,x 010B FC0000 ldd _desired 010E 1AA302 cpd 2,x 0111 2D0E blt L32 0113 .dbline 97 0113 CC0262 ldd #L34 0116 BD0000 jsr _printf 0119 .dbline 98 0119 18CE1022 ldy #0x1022 011D 181D0040 bclr 0,y,#0x40 0121 .dbline 99 0121 L32: 0121 L31: 0121 L29: 0121 .dbline 101 0121 L26: 0121 .dbline 85 0121 7E00B1 jmp L25 0124 L18: 0124 8F xgdx 0125 C3001A addd #26 0128 8F xgdx 0129 35 txs 012A 38 pulx 012B 39 rts ; IX -> 0,x 012C _init_pulse:: 012C 0F sei 012D .dbfunc init_pulse 012D .dbline 115 012D 18CE1020 ldy #0x1020 0131 181C0080 bset 0,y,#128 0135 .dbline 116 0135 18CE1020 ldy #0x1020 0139 181D0040 bclr 0,y,#0x40 013D .dbline 117 013D CC0000 ldd #0 0140 FD1018 std 0x1018 0143 .dbline 118 0143 18CE1022 ldy #0x1022 0147 181C0040 bset 0,y,#64 014B .dbline 121 014B CC024E ldd #L36 014E BD0000 jsr _printf 0151 .dbline 122 0151 L35: 0151 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 0152 _TOC2_isr:: 0152 BD0000 jsr __enterb 0155 82 .byte 0x82 0156 .dbfunc TOC2_isr 0156 .dbline 125 0156 CC024A ldd #L38 0159 BD0000 jsr _printf 015C .dbline 131 015C 18CE0008 ldy #_duty_cycle 0160 BD0000 jsr __ly2reg 0163 18CE0246 ldy #L41 0167 BD0000 jsr __ly2reg2 016A BD0000 jsr __lcmp 016D 2E29 bgt L39 016F .dbline 134 016F 18CE1020 ldy #0x1020 0173 181C0080 bset 0,y,#128 0177 .dbline 135 0177 18CE1020 ldy #0x1020 017B 181D0040 bclr 0,y,#0x40 017F .dbline 136 017F 18CE0004 ldy #_period 0183 BD0000 jsr __ly2reg2 ; vol 0186 FC1018 ldd 0x1018 0189 BD0000 jsr __ud2lreg 018C BD0000 jsr __ladd 018F BD0000 jsr __lreg2d 0192 FD1018 std 0x1018 0195 .dbline 137 0195 7E0239 jmp L40 0198 L39: 0198 .dbline 139 0198 18CE0004 ldy #_period 019C BD0000 jsr __ly2reg 019F 18CE0008 ldy #_duty_cycle 01A3 BD0000 jsr __ly2reg2 01A6 BD0000 jsr __lsub 01A9 18CE0246 ldy #L41 01AD BD0000 jsr __ly2reg2 01B0 BD0000 jsr __lcmp 01B3 2E28 bgt L42 01B5 .dbline 141 01B5 18CE1020 ldy #0x1020 01B9 181D0080 bclr 0,y,#0x80 01BD .dbline 142 01BD 18CE1020 ldy #0x1020 01C1 181C0040 bset 0,y,#64 01C5 .dbline 143 01C5 18CE0004 ldy #_period 01C9 BD0000 jsr __ly2reg2 ; vol 01CC FC1018 ldd 0x1018 01CF BD0000 jsr __ud2lreg 01D2 BD0000 jsr __ladd 01D5 BD0000 jsr __lreg2d 01D8 FD1018 std 0x1018 01DB .dbline 144 01DB 205C bra L43 01DD L42: 01DD .dbline 148 01DD 18CE1020 ldy #0x1020 01E1 181F004028 brclr 0,y,#64,L44 01E6 .dbline 150 01E6 18CE1020 ldy #0x1020 01EA 181D0040 bclr 0,y,#0x40 01EE .dbline 151 01EE 18CE1020 ldy #0x1020 01F2 181C0080 bset 0,y,#128 01F6 .dbline 152 01F6 18CE0008 ldy #_duty_cycle 01FA BD0000 jsr __ly2reg2 ; vol 01FD FC1018 ldd 0x1018 0200 BD0000 jsr __ud2lreg 0203 BD0000 jsr __ladd 0206 BD0000 jsr __lreg2d 0209 FD1018 std 0x1018 020C .dbline 153 020C 202B bra L45 020E L44: 020E .dbline 157 ; { ; SET_BIT(TCTL1, 0xC0); //Set bit 6 to go high next interrupt 020E 18CE1020 ldy #0x1020 0212 181C00C0 bset 0,y,#192 0216 .dbline 158 ; TOC2 += (period - duty_cycle); 0216 18CE0004 ldy #_period 021A BD0000 jsr __ly2reg 021D 18CE0008 ldy #_duty_cycle 0221 BD0000 jsr __ly2reg2 0224 BD0000 jsr __lsub 0227 BD0000 jsr __lregmov ; vol 022A FC1018 ldd 0x1018 022D BD0000 jsr __ud2lreg 0230 BD0000 jsr __ladd 0233 BD0000 jsr __lreg2d 0236 FD1018 std 0x1018 0239 .dbline 159 ; } 0239 L45: 0239 .dbline 160 ; } 0239 L43: 0239 L40: 0239 .dbline 163 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 0239 18CE1023 ldy #0x1023 023D 181D00BF bclr 0,y,#0xbf 0241 .dbline 164 ; } //This is the end of the interrupt routine 0241 L37: 0241 08 inx 0242 08 inx 0243 35 txs 0244 38 pulx 0245 3B rti .area bss 0000 _desired:: 0000 .blkb 2 0002 _gain:: 0002 .blkb 2 0004 _period:: 0004 .blkb 4 0008 _duty_cycle:: 0008 .blkb 4 000C _timertjp:: 000C .blkb 2 000E _days:: 000E .blkb 2 0010 _hours:: 0010 .blkb 2 0012 _minutes:: 0012 .blkb 2 0014 _seconds:: 0014 .blkb 2 0016 _msec:: 0016 .blkb 2 .area text 0246 L41: 0246 00000064 .word 0,100 024A L38: 024A 49535200 .byte 'I,'S,'R,0 024E L36: 024E 456E64206F6620496E69742070756C73 .byte 'E,'n,'d,32,'o,'f,32,'I,'n,'i,'t,32,'p,'u,'l,'s 025E 650A0A00 .byte 'e,10,10,0 0262 L34: 0262 486572650A00 .byte 'H,'e,'r,'e,10,0 0268 L24: 0268 456E7465722074686520647574792063 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'u,'t,'y,32,'c 0278 79636C6520696E206520636C6F636B73 .byte 'y,'c,'l,'e,32,'i,'n,32,'e,32,'c,'l,'o,'c,'k,'s 0288 202F20313030303A200A00 .byte 32,47,32,49,48,48,48,58,32,10,0 0293 L23: 0293 456E7465722074686520646573697265 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'s,'i,'r,'e 02A3 6420706572696F6420696E206520636C .byte 'd,32,'p,'e,'r,'i,'o,'d,32,'i,'n,32,'e,32,'c,'l 02B3 6F636B73202F20313030303A0A00 .byte 'o,'c,'k,'s,32,47,32,49,48,48,48,58,10,0 02C1 L22: 02C1 504E45554D415449432043594C494E44 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D 02D1 455220444941474E4F53544943205052 .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R 02E1 4F4752414D0A0A00 .byte 'O,'G,'R,'A,'M,10,10,0 02E9 L21: 02E9 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 02F9 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 0309 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 0319 653A090946656272756172792C203230 .byte 'e,58,9,9,'F,'e,'b,'r,'u,'a,'r,'y,44,32,50,48 0329 30300A0956657273696F6E0909310A0A .byte 48,48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10 0339 00 .byte 0