.module finally2.c --- 0000 .dbfile finally2.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: 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 ***********************/ ; ; 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .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 *********************/ ; ; 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .dbline 53 ; /**************************** Main **************************************/ ; ; void main(void) ; { ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; 9815 L4: 9815 3B rti ; IX -> 0,x 9816 _PAV_isr:: 9816 .dbfunc PAV_isr 9816 .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 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOF_isr:: 9817 .dbfunc TOF_isr 9817 .dbline 65 ; //SET_BIT(TMSK2, 0x40);//Enable RTI interrupt ; ; init_pulse(); ; init_analog(); ; init_serial(); ; 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TOC3_isr:: 9818 .dbfunc TOC3_isr 9818 .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){ 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC3_isr:: 9819 .dbfunc TIC3_isr 9819 .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*/ 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC2_isr:: 981A .dbfunc TIC2_isr 981A .dbline 107 ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; 981A L9: 981A 3B rti ; IX -> 0,x 981B _TIC1_isr:: 981B .dbfunc TIC1_isr 981B .dbline 113 ; ; ; /************************** Function Defintions *************************/ ; ; void init_pulse(void) ; { 981B L10: 981B 3B rti ; IX -> 0,x 981C _RTI_isr:: 981C .dbfunc RTI_isr 981C .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(); 981C L11: 981C 3B rti ; IX -> 0,x 981D _IRQ_isr:: 981D .dbfunc IRQ_isr 981D .dbline 125 ; ; printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() ; { printf("ISR"); 981D L12: 981D 3B rti ; IX -> 0,x 981E _XIRQ_isr:: 981E .dbfunc XIRQ_isr 981E .dbline 131 ; ; ; //enable toggle ; //CLEAR_BIT(TCTL1, 0x80); ; //SET_BIT(TCTL1, 0x40); ; if (duty_cycle <= 100) 981E L13: 981E 3B rti ; IX -> 0,x 981F _SWI_isr:: 981F .dbfunc SWI_isr 981F .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 ; } 981F L14: 981F 3B rti ; IX -> 0,x 9820 _ILLOP_isr:: 9820 .dbfunc ILLOP_isr 9820 .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 9820 L15: 9820 3B rti ; IX -> 0,x 9821 _COP_isr:: 9821 .dbfunc COP_isr 9821 .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 ; { 9821 L16: 9821 3B rti ; IX -> 0,x 9822 _CLMON_isr:: 9822 .dbfunc CLMON_isr 9822 .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 9822 L17: 9822 3B rti .area data 9B55 _drew:: 9B55 .blkw 1 .area idata --- 0000 0000 .word _interrupt_vectors .area data 9B57 _error:: 9B57 .blkb 2 .area idata --- 0002 0000 .word 0 .area data 9B59 _count:: 9B59 .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 9830 _main:: 9830 BD86BA jsr __enterb 9833 9A .byte 0x9a 9834 .dbfile finally2.c 9834 .dbfunc main 9834 .dbline 53 9834 EC00 ldd 0,x 9836 C30014 addd #20 9839 18CE9823 ldy #L19 983D 3C pshx 983E 8F xgdx 983F CC0006 ldd #6 9842 BD86A2 jsr __asgnblk 9845 38 pulx 9846 .dbline 56 9846 EC00 ldd 0,x 9848 C3000D addd #13 984B 18CE9829 ldy #L20 984F 3C pshx 9850 8F xgdx 9851 CC0007 ldd #7 9854 BD86A2 jsr __asgnblk 9857 38 pulx 9858 .dbline 58 9858 18CE1026 ldy #0x1026 985C 181C0080 bset 0,y,#128 9860 .dbline 59 9860 18CE1026 ldy #0x1026 9864 181D0003 bclr 0,y,#0x3 9868 .dbline 62 9868 BD993F jsr _init_pulse 986B .dbline 63 986B BD813B jsr _init_analog 986E .dbline 64 986E BD8381 jsr _init_serial 9871 .dbline 69 9871 CC9AFC ldd #L21 9874 BD9442 jsr _printf 9877 .dbline 74 9877 CC9AD4 ldd #L22 987A BD9442 jsr _printf 987D .dbline 75 987D CC9AA6 ldd #L23 9880 BD9442 jsr _printf 9883 .dbline 76 9883 BD856F jsr _read_int 9886 ED04 std 4,x 9888 CC03E8 ldd #1000 988B 1AEE04 ldy 4,x 988E BD8669 jsr __muli 9891 BD8987 jsr __d2lreg 9894 18CE9B78 ldy #_period 9898 BD8935 jsr __lreg2y 989B .dbline 77 989B CC9A7B ldd #L24 989E BD9442 jsr _printf 98A1 .dbline 78 98A1 BD856F jsr _read_int 98A4 ED06 std 6,x 98A6 CC03E8 ldd #1000 98A9 1AEE06 ldy 6,x 98AC BD8669 jsr __muli 98AF BD8987 jsr __d2lreg 98B2 18CE9B7C ldy #_duty_cycle 98B6 BD8935 jsr __lreg2y 98B9 0E cli 98BA .dbline 80 98BA CC0096 ldd #150 98BD FD9B74 std _desired 98C0 0F sei 98C1 .dbline 81 98C1 7E9934 jmp L26 98C4 L25: 98C4 .dbline 87 98C4 18CE1022 ldy #0x1022 98C8 181C0040 bset 0,y,#64 98CC .dbline 89 98CC CC0001 ldd #1 98CF BD8144 jsr _analog 98D2 ED08 std 8,x 98D4 FC9B74 ldd _desired 98D7 1AA308 cpd 8,x 98DA 2C0A bge L28 98DC .dbline 90 98DC 18CE1000 ldy #0x1000 98E0 181D0020 bclr 0,y,#0x20 98E4 .dbline 91 98E4 204E bra L29 98E6 L28: 98E6 .dbline 92 98E6 CC0001 ldd #1 98E9 BD8144 jsr _analog 98EC ED0A std 10,x 98EE FC9B74 ldd _desired 98F1 1AA30A cpd 10,x 98F4 2F0A ble L30 98F6 .dbline 93 98F6 18CE1000 ldy #0x1000 98FA 181C0020 bset 0,y,#32 98FE .dbline 94 98FE 2034 bra L31 9900 L30: 9900 .dbline 95 9900 CC0001 ldd #1 9903 BD8144 jsr _analog 9906 C3000A addd #10 9909 ED02 std 2,x 990B FC9B74 ldd _desired 990E 1AA302 cpd 2,x 9911 2E21 bgt L32 9913 CC0001 ldd #1 9916 BD8144 jsr _analog 9919 83000A subd #10 991C ED02 std 2,x 991E FC9B74 ldd _desired 9921 1AA302 cpd 2,x 9924 2D0E blt L32 9926 .dbline 97 9926 CC9A75 ldd #L34 9929 BD9442 jsr _printf 992C .dbline 98 992C 18CE1022 ldy #0x1022 9930 181D0040 bclr 0,y,#0x40 9934 .dbline 99 9934 L32: 9934 L31: 9934 L29: 9934 .dbline 101 9934 L26: 9934 .dbline 85 9934 7E98C4 jmp L25 9937 L18: 9937 8F xgdx 9938 C3001A addd #26 993B 8F xgdx 993C 35 txs 993D 38 pulx 993E 39 rts ; IX -> 0,x 993F _init_pulse:: 993F 0F sei 9940 .dbfunc init_pulse 9940 .dbline 115 9940 18CE1020 ldy #0x1020 9944 181C0080 bset 0,y,#128 9948 .dbline 116 9948 18CE1020 ldy #0x1020 994C 181D0040 bclr 0,y,#0x40 9950 .dbline 117 9950 CC0000 ldd #0 9953 FD1018 std 0x1018 9956 .dbline 118 9956 18CE1022 ldy #0x1022 995A 181C0040 bset 0,y,#64 995E .dbline 121 995E CC9A61 ldd #L36 9961 BD9442 jsr _printf 9964 .dbline 122 9964 L35: 9964 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 9965 _TOC2_isr:: 9965 BD86BA jsr __enterb 9968 82 .byte 0x82 9969 .dbfunc TOC2_isr 9969 .dbline 125 9969 CC9A5D ldd #L38 996C BD9442 jsr _printf 996F .dbline 131 996F 18CE9B7C ldy #_duty_cycle 9973 BD88F8 jsr __ly2reg 9976 18CE9A59 ldy #L41 997A BD891E jsr __ly2reg2 997D BD8D86 jsr __lcmp 9980 2E29 bgt L39 9982 .dbline 134 9982 18CE1020 ldy #0x1020 9986 181C0080 bset 0,y,#128 998A .dbline 135 998A 18CE1020 ldy #0x1020 998E 181D0040 bclr 0,y,#0x40 9992 .dbline 136 9992 18CE9B78 ldy #_period 9996 BD891E jsr __ly2reg2 ; vol 9999 FC1018 ldd 0x1018 999C BD89B9 jsr __ud2lreg 999F BD8A84 jsr __ladd 99A2 BD89DF jsr __lreg2d 99A5 FD1018 std 0x1018 99A8 .dbline 137 99A8 7E9A4C jmp L40 99AB L39: 99AB .dbline 139 99AB 18CE9B78 ldy #_period 99AF BD88F8 jsr __ly2reg 99B2 18CE9B7C ldy #_duty_cycle 99B6 BD891E jsr __ly2reg2 99B9 BD8A9F jsr __lsub 99BC 18CE9A59 ldy #L41 99C0 BD891E jsr __ly2reg2 99C3 BD8D86 jsr __lcmp 99C6 2E28 bgt L42 99C8 .dbline 141 99C8 18CE1020 ldy #0x1020 99CC 181D0080 bclr 0,y,#0x80 99D0 .dbline 142 99D0 18CE1020 ldy #0x1020 99D4 181C0040 bset 0,y,#64 99D8 .dbline 143 99D8 18CE9B78 ldy #_period 99DC BD891E jsr __ly2reg2 ; vol 99DF FC1018 ldd 0x1018 99E2 BD89B9 jsr __ud2lreg 99E5 BD8A84 jsr __ladd 99E8 BD89DF jsr __lreg2d 99EB FD1018 std 0x1018 99EE .dbline 144 99EE 205C bra L43 99F0 L42: 99F0 .dbline 148 99F0 18CE1020 ldy #0x1020 99F4 181F004028 brclr 0,y,#64,L44 99F9 .dbline 150 99F9 18CE1020 ldy #0x1020 99FD 181D0040 bclr 0,y,#0x40 9A01 .dbline 151 9A01 18CE1020 ldy #0x1020 9A05 181C0080 bset 0,y,#128 9A09 .dbline 152 9A09 18CE9B7C ldy #_duty_cycle 9A0D BD891E jsr __ly2reg2 ; vol 9A10 FC1018 ldd 0x1018 9A13 BD89B9 jsr __ud2lreg 9A16 BD8A84 jsr __ladd 9A19 BD89DF jsr __lreg2d 9A1C FD1018 std 0x1018 9A1F .dbline 153 9A1F 202B bra L45 9A21 L44: 9A21 .dbline 157 ; { ; SET_BIT(TCTL1, 0xC0); //Set bit 6 to go high next interrupt 9A21 18CE1020 ldy #0x1020 9A25 181C00C0 bset 0,y,#192 9A29 .dbline 158 ; TOC2 += (period - duty_cycle); 9A29 18CE9B78 ldy #_period 9A2D BD88F8 jsr __ly2reg 9A30 18CE9B7C ldy #_duty_cycle 9A34 BD891E jsr __ly2reg2 9A37 BD8A9F jsr __lsub 9A3A BD8972 jsr __lregmov ; vol 9A3D FC1018 ldd 0x1018 9A40 BD89B9 jsr __ud2lreg 9A43 BD8A84 jsr __ladd 9A46 BD89DF jsr __lreg2d 9A49 FD1018 std 0x1018 9A4C .dbline 159 ; } 9A4C L45: 9A4C .dbline 160 ; } 9A4C L43: 9A4C L40: 9A4C .dbline 163 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 9A4C 18CE1023 ldy #0x1023 9A50 181D00BF bclr 0,y,#0xbf 9A54 .dbline 164 ; } //This is the end of the interrupt routine 9A54 L37: 9A54 08 inx 9A55 08 inx 9A56 35 txs 9A57 38 pulx 9A58 3B rti .area bss 9B74 _desired:: 9B74 .blkb 2 9B76 _gain:: 9B76 .blkb 2 9B78 _period:: 9B78 .blkb 4 9B7C _duty_cycle:: 9B7C .blkb 4 9B80 _timertjp:: 9B80 .blkb 2 9B82 _days:: 9B82 .blkb 2 9B84 _hours:: 9B84 .blkb 2 9B86 _minutes:: 9B86 .blkb 2 9B88 _seconds:: 9B88 .blkb 2 9B8A _msec:: 9B8A .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