.module valve.c 0000 .dbfile valve.c .area text ; IX -> 0,x 0000 _SCI_isr:: 0000 .dbfile C:\ICCTJP\include/isrdecl.h 0000 .dbfunc SCI_isr 0000 .dbline 41 ; /************************************************************************ ; * Program: valve.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: January 26, 2000 * ; *************************************************************************/ ; ; /**************************** Constants *********************************/ ; //#define valve TOC ; #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 ; #include ; #include ; /************************ End of includes *******************************/ ; ; /************************** Global Variables*****************************/ ; unsigned int duty_cycle, period; ; ; /************************ End of Global Variables ***********************/ ; ; ; /************************** Function Declarations **********************/ ; void valve_position (unsigned int , unsigned int , unsigned int); ; void PWM (unsigned int , unsigned int); 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .dbline 47 ; void done(); ; /******************** End of Function Declarations *********************/ ; ; /************************** Function Defintions *************************/ ; void valve_position (unsigned int position, unsigned int duty, unsigned int pd) ; // This function sets the desired position of the pneumatic cylinder 0001 L3: 0001 3B rti ; IX -> 0,x 0002 _PAIE_isr:: 0002 .dbfunc PAIE_isr 0002 .dbline 53 ; // shaft +/- the tolerance. The cylinder moves to its new position ; // at a speed determined by the PWM function. ; { ; ; printf("You're at the beginning of valve_position.\n"); ; while (position > (valve_sensor + tolerance)) //If the cylinder is too far out, move it in 0002 L4: 0002 3B rti ; IX -> 0,x 0003 _PAV_isr:: 0003 .dbfunc PAV_isr 0003 .dbline 59 ; { ; printf("The analog value is:\t%d\n", valve_sensor); ; SET_BIT (PORTA, 0x80); //This sets PORTA bit7 to move cylinder in ; PWM (duty, pd); //After the bit is set, PWM to move the cylinder ; /*if (valve_sensor - tolerance < position && position > valve_sensor + tolerance){ ; done(); 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOF_isr:: 0004 .dbfunc TOF_isr 0004 .dbline 65 ; return; ; }*/ ; } ; while (position < (valve_sensor - tolerance)) ; { ; printf("The analog value is:\t%d\n", valve_sensor); 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TOC3_isr:: 0005 .dbfunc TOC3_isr 0005 .dbline 89 ; CLEAR_BIT (PORTA, 0x80); ; PWM (duty, pd); ; /*if (valve_sensor - tolerance < position && position > valve_sensor + tolerance){ ; done(); ; return; ; }*/ ; } ; } ; ; void PWM ( unsigned int duty_cycle2, unsigned int period2)//This is the function to generate PWM ; { ; printf("You're at PWM.\n"); ; SET_BIT (TMSK1, 0x40); //Enable interrupt on OC2 ; SET_BIT (TCTL1, 0x40); //Enable toggle ; duty_cycle = duty_cycle2; ; period = period2; ; ; } ; ; void done() ; { ; CLEAR_BIT (TMSK1, 0x40); //Disable interrupt on OC2 ; SET_BIT (TCTL1, 0x80); //set OC2 line to 0 on compare ; SET_BIT (CFORC, 0x40); //force successful compare 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC3_isr:: 0006 .dbfunc TIC3_isr 0006 .dbline 101 ; } ; ; void TOC2_isr() ; { ; // if (TCTL1 & 0x40) ; // { ; // CLEAR_BIT (TCTL1, 0x40); //Clear bit to set for falling edge next interrupt ; ; TOC2 += duty_cycle; //Add time to TOC2 for duty cycle ; // } ; // if (!(TCTL1 & 0x40)) ; // { 0006 L8: 0006 3B rti ; IX -> 0,x 0007 _TIC2_isr:: 0007 .dbfunc TIC2_isr 0007 .dbline 107 ; // SET_BIT (TCTL1, 0x40); ; // TOC2 += (period - duty_cycle); ; // } ; ; CLEAR_FLAG(TFLG1, 0x40); //Clear interrupt flag ; } 0007 L9: 0007 3B rti ; IX -> 0,x 0008 _TIC1_isr:: 0008 .dbfunc TIC1_isr 0008 .dbline 113 ; /************************** End of Function Defintions ******************/ ; ; /**************************** Main **************************************/ ; ; unsigned int x, y, z; ; void main(void) 0008 L10: 0008 3B rti ; IX -> 0,x 0009 _RTI_isr:: 0009 .dbfunc RTI_isr 0009 .dbline 119 ; { ; /* VT100 clear screen */ ; 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*/ 0009 L11: 0009 3B rti ; IX -> 0,x 000A _IRQ_isr:: 000A .dbfunc IRQ_isr 000A .dbline 125 ; ; SET_BIT(PACTL, 0x80); ; init_analog(); ; init_clocktjp(); ; init_serial(); ; 000A L12: 000A 3B rti ; IX -> 0,x 000B _XIRQ_isr:: 000B .dbfunc XIRQ_isr 000B .dbline 131 ; INTR_ON(); /*turn on HC11 interrupt system*/ ; ; printf("%s", clear); ; printf("%s", place); ; ; printf("\tTitle:\t\tvalve.c\n" 000B L13: 000B 3B rti ; IX -> 0,x 000C _SWI_isr:: 000C .dbfunc SWI_isr 000C .dbline 137 ; "\tProgrammer:\tScott Nortman\n" ; "\tDate:\t\tJanuary, 2000\n" ; "\tVersion\t\t1\n\n"); ; ; printf("PNEUMATIC CYLINDER DIAGNOSTIC PROGRAM\n\n"); ; 000C L14: 000C 3B rti ; IX -> 0,x 000D _ILLOP_isr:: 000D .dbfunc ILLOP_isr 000D .dbline 143 ; while(1) ; { ; printf("Enter number of e clocks for the period\n"); ; z = read_int(); ; printf("Enter e clocks for duty cycle\n"); ; y = read_int(); 000D L15: 000D 3B rti ; IX -> 0,x 000E _COP_isr:: 000E .dbfunc COP_isr 000E .dbline 149 ; printf("Enter the desired position\n"); ; x = read_int(); ; ; valve_position(x, y, z); ; ; // printf("%s", clear); 000E L16: 000E 3B rti ; IX -> 0,x 000F _CLMON_isr:: 000F .dbfunc CLMON_isr 000F .dbline 155 ; // printf("%s", place); ; ; }/*End While*/ ; ; }/*End Main*/ ; 000F L17: 000F 3B rti .area data 0000 _drew:: 0000 .blkw 1 .area idata 0000 0000 .word _interrupt_vectors .area text ; IX -> 0,x ; rMEM -> 2,x ; pd -> 12,x ; duty -> 10,x ; position -> 6,x 0010 _valve_position:: 0010 BD0000 jsr __enterb 0013 44 .byte 0x44 0014 .dbfile valve.c 0014 .dbfunc valve_position 0014 .dbline 52 0014 CC02A7 ldd #L19 0017 BD0000 jsr _printf 001A 2023 bra L21 001C L20: 001C .dbline 55 001C CC0001 ldd #1 001F BD0000 jsr _analog 0022 37 pshb 0023 36 psha 0024 CC028E ldd #L23 0027 BD0000 jsr _printf 002A 1838 puly 002C .dbline 56 002C 18CE1000 ldy #0x1000 0030 181C0080 bset 0,y,#128 0034 .dbline 57 0034 EC0C ldd 12,x 0036 37 pshb 0037 36 psha 0038 EC0A ldd 10,x 003A BD0091 jsr _PWM 003D 1838 puly 003F .dbline 62 003F L21: 003F .dbline 53 003F CC0001 ldd #1 0042 BD0000 jsr _analog 0045 C3000A addd #10 0048 ED02 std 2,x 004A EC06 ldd 6,x 004C 1AA302 cpd 2,x 004F 22CB bhi L20 0051 2023 bra L25 0053 L24: 0053 .dbline 65 0053 CC0001 ldd #1 0056 BD0000 jsr _analog 0059 37 pshb 005A 36 psha 005B CC028E ldd #L23 005E BD0000 jsr _printf 0061 1838 puly 0063 .dbline 66 0063 18CE1000 ldy #0x1000 0067 181D0080 bclr 0,y,#0x80 006B .dbline 67 006B EC0C ldd 12,x 006D 37 pshb 006E 36 psha 006F EC0A ldd 10,x 0071 BD0091 jsr _PWM 0074 1838 puly 0076 .dbline 72 0076 L25: 0076 .dbline 63 0076 CC0001 ldd #1 0079 BD0000 jsr _analog 007C 83000A subd #10 007F ED02 std 2,x 0081 EC06 ldd 6,x 0083 1AA302 cpd 2,x 0086 25CB blo L24 0088 .dbline 73 0088 L18: 0088 08 inx 0089 08 inx 008A 08 inx 008B 08 inx 008C 35 txs 008D 38 pulx 008E 1838 puly 0090 39 rts ; IX -> 0,x ; period2 -> 8,x ; duty_cycle2 -> 4,x 0091 _PWM:: 0091 37 pshb 0092 36 psha 0093 3C pshx 0094 3C pshx 0095 30 tsx 0096 EF00 stx 0,x 0098 .dbfunc PWM 0098 .dbline 77 0098 CC027E ldd #L28 009B BD0000 jsr _printf 009E .dbline 78 009E 18CE1022 ldy #0x1022 00A2 181C0040 bset 0,y,#64 00A6 .dbline 79 00A6 18CE1020 ldy #0x1020 00AA 181C0040 bset 0,y,#64 00AE .dbline 80 00AE EC04 ldd 4,x 00B0 FD0008 std _duty_cycle 00B3 .dbline 81 00B3 EC08 ldd 8,x 00B5 FD0006 std _period 00B8 .dbline 83 00B8 L27: 00B8 08 inx 00B9 08 inx 00BA 35 txs 00BB 38 pulx 00BC 1838 puly 00BE 39 rts ; IX -> 0,x 00BF _done:: 00BF .dbfunc done 00BF .dbline 87 00BF 18CE1022 ldy #0x1022 00C3 181D0040 bclr 0,y,#0x40 00C7 .dbline 88 00C7 18CE1020 ldy #0x1020 00CB 181C0080 bset 0,y,#128 00CF .dbline 89 00CF 18CE100B ldy #0x100b 00D3 181C0040 bset 0,y,#64 00D7 .dbline 90 00D7 L29: 00D7 39 rts ; IX -> 0,x 00D8 _TOC2_isr:: 00D8 .dbfunc TOC2_isr 00D8 .dbline 98 ; vol 00D8 FC1018 ldd 0x1018 00DB F30008 addd _duty_cycle 00DE FD1018 std 0x1018 00E1 .dbline 106 00E1 18CE1023 ldy #0x1023 00E5 181D00BF bclr 0,y,#0xbf 00E9 .dbline 107 00E9 L30: 00E9 3B rti 00EA L32: 00EA 1B5B324A0400 .byte 27,91,50,'J,4,0 00F0 L33: 00F0 1B5B313B314800 .byte 27,91,49,59,49,'H,0 ; IX -> 0,x ; place -> 3,x ; clear -> 10,x 00F7 _main:: 00F7 BD0000 jsr __enterb 00FA 10 .byte 0x10 00FB .dbfunc main 00FB .dbline 116 00FB EC00 ldd 0,x 00FD C3000A addd #10 0100 18CE00EA ldy #L32 0104 3C pshx 0105 8F xgdx 0106 CC0006 ldd #6 0109 BD0000 jsr __asgnblk 010C 38 pulx 010D .dbline 119 010D EC00 ldd 0,x 010F C30003 addd #3 0112 18CE00F0 ldy #L33 0116 3C pshx 0117 8F xgdx 0118 CC0007 ldd #7 011B BD0000 jsr __asgnblk 011E 38 pulx 011F .dbline 121 011F 18CE1026 ldy #0x1026 0123 181C0080 bset 0,y,#128 0127 .dbline 122 0127 BD0000 jsr _init_analog 012A .dbline 123 012A BD0000 jsr _init_clocktjp 012D .dbline 124 012D BD0000 jsr _init_serial 0130 0E cli 0131 .dbline 128 0131 EC00 ldd 0,x 0133 C3000A addd #10 0136 37 pshb 0137 36 psha 0138 CC027B ldd #L34 013B BD0000 jsr _printf 013E 1838 puly 0140 .dbline 129 0140 EC00 ldd 0,x 0142 C30003 addd #3 0145 37 pshb 0146 36 psha 0147 CC027B ldd #L34 014A BD0000 jsr _printf 014D 1838 puly 014F .dbline 131 014F CC022B ldd #L35 0152 BD0000 jsr _printf 0155 .dbline 136 0155 CC0203 ldd #L36 0158 BD0000 jsr _printf 015B 2038 bra L38 015D L37: 015D .dbline 140 015D CC01DA ldd #L40 0160 BD0000 jsr _printf 0163 .dbline 141 0163 BD0000 jsr _read_int 0166 FD0000 std _z 0169 .dbline 142 0169 CC01BB ldd #L41 016C BD0000 jsr _printf 016F .dbline 143 016F BD0000 jsr _read_int 0172 FD0002 std _y 0175 .dbline 144 0175 CC019F ldd #L42 0178 BD0000 jsr _printf 017B .dbline 145 017B BD0000 jsr _read_int 017E FD0004 std _x 0181 .dbline 147 0181 FC0000 ldd _z 0184 37 pshb 0185 36 psha 0186 FC0002 ldd _y 0189 37 pshb 018A 36 psha 018B FC0004 ldd _x 018E BD0010 jsr _valve_position 0191 1838 puly 0193 1838 puly 0195 .dbline 152 0195 L38: 0195 .dbline 138 0195 20C6 bra L37 0197 L31: 0197 8F xgdx 0198 C30010 addd #16 019B 8F xgdx 019C 35 txs 019D 38 pulx 019E 39 rts .area bss 0000 _z:: 0000 .blkb 2 0002 _y:: 0002 .blkb 2 0004 _x:: 0004 .blkb 2 0006 _period:: 0006 .blkb 2 0008 _duty_cycle:: 0008 .blkb 2 000A _timertjp:: 000A .blkb 2 000C _days:: 000C .blkb 2 000E _hours:: 000E .blkb 2 0010 _minutes:: 0010 .blkb 2 0012 _seconds:: 0012 .blkb 2 0014 _msec:: 0014 .blkb 2 .area text 019F L42: 019F 456E7465722074686520646573697265 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'s,'i,'r,'e 01AF 6420706F736974696F6E0A00 .byte 'd,32,'p,'o,'s,'i,'t,'i,'o,'n,10,0 01BB L41: 01BB 456E746572206520636C6F636B732066 .byte 'E,'n,'t,'e,'r,32,'e,32,'c,'l,'o,'c,'k,'s,32,'f 01CB 6F722064757479206379636C650A00 .byte 'o,'r,32,'d,'u,'t,'y,32,'c,'y,'c,'l,'e,10,0 01DA L40: 01DA 456E746572206E756D626572206F6620 .byte 'E,'n,'t,'e,'r,32,'n,'u,'m,'b,'e,'r,32,'o,'f,32 01EA 6520636C6F636B7320666F7220746865 .byte 'e,32,'c,'l,'o,'c,'k,'s,32,'f,'o,'r,32,'t,'h,'e 01FA 20706572696F640A00 .byte 32,'p,'e,'r,'i,'o,'d,10,0 0203 L36: 0203 504E45554D415449432043594C494E44 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D 0213 455220444941474E4F53544943205052 .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R 0223 4F4752414D0A0A00 .byte 'O,'G,'R,'A,'M,10,10,0 022B L35: 022B 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 023B 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 024B 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 025B 653A09094A616E756172792C20323030 .byte 'e,58,9,9,'J,'a,'n,'u,'a,'r,'y,44,32,50,48,48 026B 300A0956657273696F6E0909310A0A00 .byte 48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0 027B L34: 027B 257300 .byte 37,'s,0 027E L28: 027E 596F752772652061742050574D2E0A00 .byte 'Y,'o,'u,39,'r,'e,32,'a,'t,32,'P,'W,'M,46,10,0 028E L23: 028E 54686520616E616C6F672076616C7565 .byte 'T,'h,'e,32,'a,'n,'a,'l,'o,'g,32,'v,'a,'l,'u,'e 029E 2069733A0925640A00 .byte 32,'i,'s,58,9,37,'d,10,0 02A7 L19: 02A7 596F7527726520206174207468652062 .byte 'Y,'o,'u,39,'r,'e,32,32,'a,'t,32,'t,'h,'e,32,'b 02B7 6567696E6E696E67206F662076616C76 .byte 'e,'g,'i,'n,'n,'i,'n,'g,32,'o,'f,32,'v,'a,'l,'v 02C7 655F706F736974696F6E2E0A00 .byte 'e,95,'p,'o,'s,'i,'t,'i,'o,'n,46,10,0