.module valve.c --- 0000 .dbfile valve.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .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); 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .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 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .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 9815 L4: 9815 3B rti ; IX -> 0,x 9816 _PAV_isr:: 9816 .dbfunc PAV_isr 9816 .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(); 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOF_isr:: 9817 .dbfunc TOF_isr 9817 .dbline 65 ; return; ; }*/ ; } ; while (position < (valve_sensor - tolerance)) ; { ; printf("The analog value is:\t%d\n", valve_sensor); 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TOC3_isr:: 9818 .dbfunc TOC3_isr 9818 .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 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC3_isr:: 9819 .dbfunc TIC3_isr 9819 .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)) ; // { 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC2_isr:: 981A .dbfunc TIC2_isr 981A .dbline 107 ; // SET_BIT (TCTL1, 0x40); ; // TOC2 += (period - duty_cycle); ; // } ; ; CLEAR_FLAG(TFLG1, 0x40); //Clear interrupt flag ; } 981A L9: 981A 3B rti ; IX -> 0,x 981B _TIC1_isr:: 981B .dbfunc TIC1_isr 981B .dbline 113 ; /************************** End of Function Defintions ******************/ ; ; /**************************** Main **************************************/ ; ; unsigned int x, y, z; ; void main(void) 981B L10: 981B 3B rti ; IX -> 0,x 981C _RTI_isr:: 981C .dbfunc RTI_isr 981C .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*/ 981C L11: 981C 3B rti ; IX -> 0,x 981D _IRQ_isr:: 981D .dbfunc IRQ_isr 981D .dbline 125 ; ; SET_BIT(PACTL, 0x80); ; init_analog(); ; init_clocktjp(); ; init_serial(); ; 981D L12: 981D 3B rti ; IX -> 0,x 981E _XIRQ_isr:: 981E .dbfunc XIRQ_isr 981E .dbline 131 ; INTR_ON(); /*turn on HC11 interrupt system*/ ; ; printf("%s", clear); ; printf("%s", place); ; ; printf("\tTitle:\t\tvalve.c\n" 981E L13: 981E 3B rti ; IX -> 0,x 981F _SWI_isr:: 981F .dbfunc SWI_isr 981F .dbline 137 ; "\tProgrammer:\tScott Nortman\n" ; "\tDate:\t\tJanuary, 2000\n" ; "\tVersion\t\t1\n\n"); ; ; printf("PNEUMATIC CYLINDER DIAGNOSTIC PROGRAM\n\n"); ; 981F L14: 981F 3B rti ; IX -> 0,x 9820 _ILLOP_isr:: 9820 .dbfunc ILLOP_isr 9820 .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(); 9820 L15: 9820 3B rti ; IX -> 0,x 9821 _COP_isr:: 9821 .dbfunc COP_isr 9821 .dbline 149 ; printf("Enter the desired position\n"); ; x = read_int(); ; ; valve_position(x, y, z); ; ; // printf("%s", clear); 9821 L16: 9821 3B rti ; IX -> 0,x 9822 _CLMON_isr:: 9822 .dbfunc CLMON_isr 9822 .dbline 155 ; // printf("%s", place); ; ; }/*End While*/ ; ; }/*End Main*/ ; 9822 L17: 9822 3B rti .area data 9AE9 _drew:: 9AE9 .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 9823 _valve_position:: 9823 BD86BA jsr __enterb 9826 44 .byte 0x44 9827 .dbfile valve.c 9827 .dbfunc valve_position 9827 .dbline 52 9827 CC9ABA ldd #L19 982A BD9442 jsr _printf 982D 2023 bra L21 982F L20: 982F .dbline 55 982F CC0001 ldd #1 9832 BD8144 jsr _analog 9835 37 pshb 9836 36 psha 9837 CC9AA1 ldd #L23 983A BD9442 jsr _printf 983D 1838 puly 983F .dbline 56 983F 18CE1000 ldy #0x1000 9843 181C0080 bset 0,y,#128 9847 .dbline 57 9847 EC0C ldd 12,x 9849 37 pshb 984A 36 psha 984B EC0A ldd 10,x 984D BD98A4 jsr _PWM 9850 1838 puly 9852 .dbline 62 9852 L21: 9852 .dbline 53 9852 CC0001 ldd #1 9855 BD8144 jsr _analog 9858 C3000A addd #10 985B ED02 std 2,x 985D EC06 ldd 6,x 985F 1AA302 cpd 2,x 9862 22CB bhi L20 9864 2023 bra L25 9866 L24: 9866 .dbline 65 9866 CC0001 ldd #1 9869 BD8144 jsr _analog 986C 37 pshb 986D 36 psha 986E CC9AA1 ldd #L23 9871 BD9442 jsr _printf 9874 1838 puly 9876 .dbline 66 9876 18CE1000 ldy #0x1000 987A 181D0080 bclr 0,y,#0x80 987E .dbline 67 987E EC0C ldd 12,x 9880 37 pshb 9881 36 psha 9882 EC0A ldd 10,x 9884 BD98A4 jsr _PWM 9887 1838 puly 9889 .dbline 72 9889 L25: 9889 .dbline 63 9889 CC0001 ldd #1 988C BD8144 jsr _analog 988F 83000A subd #10 9892 ED02 std 2,x 9894 EC06 ldd 6,x 9896 1AA302 cpd 2,x 9899 25CB blo L24 989B .dbline 73 989B L18: 989B 08 inx 989C 08 inx 989D 08 inx 989E 08 inx 989F 35 txs 98A0 38 pulx 98A1 1838 puly 98A3 39 rts ; IX -> 0,x ; period2 -> 8,x ; duty_cycle2 -> 4,x 98A4 _PWM:: 98A4 37 pshb 98A5 36 psha 98A6 3C pshx 98A7 3C pshx 98A8 30 tsx 98A9 EF00 stx 0,x 98AB .dbfunc PWM 98AB .dbline 77 98AB CC9A91 ldd #L28 98AE BD9442 jsr _printf 98B1 .dbline 78 98B1 18CE1022 ldy #0x1022 98B5 181C0040 bset 0,y,#64 98B9 .dbline 79 98B9 18CE1020 ldy #0x1020 98BD 181C0040 bset 0,y,#64 98C1 .dbline 80 98C1 EC04 ldd 4,x 98C3 FD9B0A std _duty_cycle 98C6 .dbline 81 98C6 EC08 ldd 8,x 98C8 FD9B08 std _period 98CB .dbline 83 98CB L27: 98CB 08 inx 98CC 08 inx 98CD 35 txs 98CE 38 pulx 98CF 1838 puly 98D1 39 rts ; IX -> 0,x 98D2 _done:: 98D2 .dbfunc done 98D2 .dbline 87 98D2 18CE1022 ldy #0x1022 98D6 181D0040 bclr 0,y,#0x40 98DA .dbline 88 98DA 18CE1020 ldy #0x1020 98DE 181C0080 bset 0,y,#128 98E2 .dbline 89 98E2 18CE100B ldy #0x100b 98E6 181C0040 bset 0,y,#64 98EA .dbline 90 98EA L29: 98EA 39 rts ; IX -> 0,x 98EB _TOC2_isr:: 98EB .dbfunc TOC2_isr 98EB .dbline 98 ; vol 98EB FC1018 ldd 0x1018 98EE F39B0A addd _duty_cycle 98F1 FD1018 std 0x1018 98F4 .dbline 106 98F4 18CE1023 ldy #0x1023 98F8 181D00BF bclr 0,y,#0xbf 98FC .dbline 107 98FC L30: 98FC 3B rti 98FD L32: 98FD 1B5B324A0400 .byte 27,91,50,'J,4,0 9903 L33: 9903 1B5B313B314800 .byte 27,91,49,59,49,'H,0 ; IX -> 0,x ; place -> 3,x ; clear -> 10,x 990A _main:: 990A BD86BA jsr __enterb 990D 10 .byte 0x10 990E .dbfunc main 990E .dbline 116 990E EC00 ldd 0,x 9910 C3000A addd #10 9913 18CE98FD ldy #L32 9917 3C pshx 9918 8F xgdx 9919 CC0006 ldd #6 991C BD86A2 jsr __asgnblk 991F 38 pulx 9920 .dbline 119 9920 EC00 ldd 0,x 9922 C30003 addd #3 9925 18CE9903 ldy #L33 9929 3C pshx 992A 8F xgdx 992B CC0007 ldd #7 992E BD86A2 jsr __asgnblk 9931 38 pulx 9932 .dbline 121 9932 18CE1026 ldy #0x1026 9936 181C0080 bset 0,y,#128 993A .dbline 122 993A BD813B jsr _init_analog 993D .dbline 123 993D BD8040 jsr _init_clocktjp 9940 .dbline 124 9940 BD8381 jsr _init_serial 9943 0E cli 9944 .dbline 128 9944 EC00 ldd 0,x 9946 C3000A addd #10 9949 37 pshb 994A 36 psha 994B CC9A8E ldd #L34 994E BD9442 jsr _printf 9951 1838 puly 9953 .dbline 129 9953 EC00 ldd 0,x 9955 C30003 addd #3 9958 37 pshb 9959 36 psha 995A CC9A8E ldd #L34 995D BD9442 jsr _printf 9960 1838 puly 9962 .dbline 131 9962 CC9A3E ldd #L35 9965 BD9442 jsr _printf 9968 .dbline 136 9968 CC9A16 ldd #L36 996B BD9442 jsr _printf 996E 2038 bra L38 9970 L37: 9970 .dbline 140 9970 CC99ED ldd #L40 9973 BD9442 jsr _printf 9976 .dbline 141 9976 BD856F jsr _read_int 9979 FD9B02 std _z 997C .dbline 142 997C CC99CE ldd #L41 997F BD9442 jsr _printf 9982 .dbline 143 9982 BD856F jsr _read_int 9985 FD9B04 std _y 9988 .dbline 144 9988 CC99B2 ldd #L42 998B BD9442 jsr _printf 998E .dbline 145 998E BD856F jsr _read_int 9991 FD9B06 std _x 9994 .dbline 147 9994 FC9B02 ldd _z 9997 37 pshb 9998 36 psha 9999 FC9B04 ldd _y 999C 37 pshb 999D 36 psha 999E FC9B06 ldd _x 99A1 BD9823 jsr _valve_position 99A4 1838 puly 99A6 1838 puly 99A8 .dbline 152 99A8 L38: 99A8 .dbline 138 99A8 20C6 bra L37 99AA L31: 99AA 8F xgdx 99AB C30010 addd #16 99AE 8F xgdx 99AF 35 txs 99B0 38 pulx 99B1 39 rts .area bss 9B02 _z:: 9B02 .blkb 2 9B04 _y:: 9B04 .blkb 2 9B06 _x:: 9B06 .blkb 2 9B08 _period:: 9B08 .blkb 2 9B0A _duty_cycle:: 9B0A .blkb 2 9B0C _timertjp:: 9B0C .blkb 2 9B0E _days:: 9B0E .blkb 2 9B10 _hours:: 9B10 .blkb 2 9B12 _minutes:: 9B12 .blkb 2 9B14 _seconds:: 9B14 .blkb 2 9B16 _msec:: 9B16 .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