.module valve2.c 0000 .dbfile valve2.c .area text ; IX -> 0,x 0000 _SCI_isr:: 0000 .dbfile C:\ICCTJP\include/isrdecl.h 0000 .dbfunc SCI_isr 0000 .dbline 41 ; /************************************************************************************************************************ ; * Program: valve2.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 * ; * Revised by: Scott Kanowitz ; * Date: January 28, 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 ; /************************ End of includes *******************************/ ; ; /************************** Global Variables*****************************/ ; unsigned int duty_cycle, period; ; ; /************************ End of Global Variables ***********************/ ; ; ; /************************** Function Declarations **********************/ ; void valve_position (unsigned int); ; void PWM_ON (); ; void PWM_OFF(); 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .dbline 47 ; /******************** End of Function Declarations *********************/ ; ; ; /**************************** Main **************************************/ ; ; unsigned int x, y, z; 0001 L3: 0001 3B rti ; IX -> 0,x 0002 _PAIE_isr:: 0002 .dbfunc PAIE_isr 0002 .dbline 53 ; void main(void) ; { ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; ; ; /* VT100 position cursor at (x,y) = (3,12) command is "\x1b[3;12H"*/ 0002 L4: 0002 3B rti ; IX -> 0,x 0003 _PAV_isr:: 0003 .dbfunc PAV_isr 0003 .dbline 59 ; char place[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; init_analog(); ; init_clocktjp(); ; init_serial(); 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOF_isr:: 0004 .dbfunc TOF_isr 0004 .dbline 65 ; ; INTR_ON(); /*turn on HC11 interrupt system*/ ; ; printf("%s", clear); ; printf("%s", place); ; 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TOC3_isr:: 0005 .dbfunc TOC3_isr 0005 .dbline 89 ; printf("\tTitle:\t\tvalve.c\n" ; "\tProgrammer:\tScott Nortman\n" ; "\tDate:\t\tJanuary, 2000\n" ; "\tVersion\t\t1\n\n"); ; ; printf("PNEUMATIC CYLINDER DIAGNOSTIC PROGRAM\n\n"); ; ; while(1) ; { ; printf("Enter the number of clocks for the period\n"); ; period = read_int(); ; printf("Enter number of e clocks for the duty cycle\n"); ; duty_cycle = read_int(); ; printf("Enter the desired position\n"); ; z = read_int(); ; ; valve_position(z); ; ; // printf("%s", clear); ; // printf("%s", place); ; ; }/*End While*/ ; ; }/*End Main*/ 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC3_isr:: 0006 .dbfunc TIC3_isr 0006 .dbline 101 ; ; ; /**************************** End of Main *******************************/ ; ; ; ; /************************** Function Defintions *************************/ ; ; /********************************valve_position**************************/ ; void valve_position (unsigned int position) ; // This function sets the desired position of the pneumatic cylinder ; // shaft +/- the tolerance. The cylinder moves to its new position 0006 L8: 0006 3B rti ; IX -> 0,x 0007 _TIC2_isr:: 0007 .dbfunc TIC2_isr 0007 .dbline 107 ; // at a speed determined by the PWM function. ; { ; ; //printf("You're at the beginning of valve_position.\n"); ; if (position > (valve_sensor + tolerance)) //If the cylinder is too far out, move it in ; { 0007 L9: 0007 3B rti ; IX -> 0,x 0008 _TIC1_isr:: 0008 .dbfunc TIC1_isr 0008 .dbline 113 ; //printf("The analog value is:\t%d\n", valve_sensor); ; SET_BIT (PORTA, 0x80); //This sets PORTA bit7 to move cylinder in ; PWM_ON(); //After the bit is set, turn on PWM to move the cylinder ; ; while (position > (valve_sensor + tolerance)){//wait until position is in desired range ; //printf("The analog value is:\t%d\n", valve_sensor); 0008 L10: 0008 3B rti ; IX -> 0,x 0009 _RTI_isr:: 0009 .dbfunc RTI_isr 0009 .dbline 119 ; } ; ; PWM_OFF(); //Turn off PWM system ; return; ; } ; 0009 L11: 0009 3B rti ; IX -> 0,x 000A _IRQ_isr:: 000A .dbfunc IRQ_isr 000A .dbline 125 ; if (position < (valve_sensor - tolerance)) ; { ; //printf("The analog value is:\t%d\n", valve_sensor); ; CLEAR_BIT (PORTA, 0x80); //Tnis sets PORTA bit 7 to move the cylinder out ; PWM_ON(); //After the bit is set, turn on the PWM to move cylinder ; 000A L12: 000A 3B rti ; IX -> 0,x 000B _XIRQ_isr:: 000B .dbfunc XIRQ_isr 000B .dbline 131 ; while (position < (valve_sensor - tolerance)){//wait until position is in desired range ; //printf("The analog value is:\t%d\n", valve_sensor); ; } ; ; PWM_OFF(); ; return; 000B L13: 000B 3B rti ; IX -> 0,x 000C _SWI_isr:: 000C .dbfunc SWI_isr 000C .dbline 137 ; } ; } ; ; ; ; /***************************PWM_ON*****************************/ 000C L14: 000C 3B rti ; IX -> 0,x 000D _ILLOP_isr:: 000D .dbfunc ILLOP_isr 000D .dbline 143 ; void PWM_ON()//This is the function to generate PWM ; {//This turns on the PWM system on OC2 and enables on ; printf("You're at PWM.\n"); ; SET_BIT (TMSK1, 0x40); //Enable interrupt on OC2 ; SET_BIT (TCTL1, 0xC0); //Enable on ; 000D L15: 000D 3B rti ; IX -> 0,x 000E _COP_isr:: 000E .dbfunc COP_isr 000E .dbline 149 ; } ; ; ; /****************************PWM_OFF***************************/ ; void PWM_OFF() ; {//This turns off the PWM system on OC2 and sets the line to 0 000E L16: 000E 3B rti ; IX -> 0,x 000F _CLMON_isr:: 000F .dbfunc CLMON_isr 000F .dbline 155 ; // CLEAR_BIT(TCTL1, 0xC0); //disconnect pin fom interrupt ; 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 ; } ; 000F L17: 000F 3B rti .area data 0000 _drew:: 0000 .blkw 1 .area idata 0000 0000 .word _interrupt_vectors .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 ; IX -> 0,x ; place -> 3,x ; clear -> 10,x 001D _main:: 001D BD0000 jsr __enterb 0020 10 .byte 0x10 0021 .dbfile valve2.c 0021 .dbfunc main 0021 .dbline 51 0021 EC00 ldd 0,x 0023 C3000A addd #10 0026 18CE0010 ldy #L19 002A 3C pshx 002B 8F xgdx 002C CC0006 ldd #6 002F BD0000 jsr __asgnblk 0032 38 pulx 0033 .dbline 54 0033 EC00 ldd 0,x 0035 C30003 addd #3 0038 18CE0016 ldy #L20 003C 3C pshx 003D 8F xgdx 003E CC0007 ldd #7 0041 BD0000 jsr __asgnblk 0044 38 pulx 0045 .dbline 56 0045 18CE1026 ldy #0x1026 0049 181C0080 bset 0,y,#128 004D .dbline 57 004D BD0000 jsr _init_analog 0050 .dbline 58 0050 BD0000 jsr _init_clocktjp 0053 .dbline 59 0053 BD0000 jsr _init_serial 0056 0E cli 0057 .dbline 63 0057 EC00 ldd 0,x 0059 C3000A addd #10 005C 37 pshb 005D 36 psha 005E CC02A5 ldd #L21 0061 BD0000 jsr _printf 0064 1838 puly 0066 .dbline 64 0066 EC00 ldd 0,x 0068 C30003 addd #3 006B 37 pshb 006C 36 psha 006D CC02A5 ldd #L21 0070 BD0000 jsr _printf 0073 1838 puly 0075 .dbline 66 0075 CC0255 ldd #L22 0078 BD0000 jsr _printf 007B .dbline 71 007B CC022D ldd #L23 007E BD0000 jsr _printf 0081 202A bra L25 0083 L24: 0083 .dbline 75 0083 CC0202 ldd #L27 0086 BD0000 jsr _printf 0089 .dbline 76 0089 BD0000 jsr _read_int 008C FD0006 std _period 008F .dbline 77 008F CC01D5 ldd #L28 0092 BD0000 jsr _printf 0095 .dbline 78 0095 BD0000 jsr _read_int 0098 FD0008 std _duty_cycle 009B .dbline 79 009B CC01B9 ldd #L29 009E BD0000 jsr _printf 00A1 .dbline 80 00A1 BD0000 jsr _read_int 00A4 FD0000 std _z 00A7 .dbline 82 00A7 FC0000 ldd _z 00AA BD00B7 jsr _valve_position 00AD .dbline 87 00AD L25: 00AD .dbline 73 00AD 20D4 bra L24 00AF L18: 00AF 8F xgdx 00B0 C30010 addd #16 00B3 8F xgdx 00B4 35 txs 00B5 38 pulx 00B6 39 rts ; IX -> 0,x ; rMEM -> 2,x ; position -> 6,x 00B7 _valve_position:: 00B7 BD0000 jsr __enterb 00BA 44 .byte 0x44 00BB .dbfunc valve_position 00BB .dbline 106 00BB CC0001 ldd #1 00BE BD0000 jsr _analog 00C1 C3000A addd #10 00C4 ED02 std 2,x 00C6 EC06 ldd 6,x 00C8 1AA302 cpd 2,x 00CB 2322 bls L31 00CD .dbline 109 00CD 18CE1000 ldy #0x1000 00D1 181C0080 bset 0,y,#128 00D5 .dbline 110 00D5 BD012A jsr _PWM_ON 00D8 L33: 00D8 .dbline 114 00D8 L34: 00D8 CC0001 ldd #1 00DB BD0000 jsr _analog 00DE C3000A addd #10 00E1 ED02 std 2,x 00E3 EC06 ldd 6,x 00E5 1AA302 cpd 2,x 00E8 22EE bhi L33 00EA .dbline 116 00EA BD0141 jsr _PWM_OFF 00ED .dbline 117 00ED 2032 bra L30 00EF L31: 00EF .dbline 120 00EF CC0001 ldd #1 00F2 BD0000 jsr _analog 00F5 83000A subd #10 00F8 ED02 std 2,x 00FA EC06 ldd 6,x 00FC 1AA302 cpd 2,x 00FF 2420 bhs L36 0101 .dbline 123 0101 18CE1000 ldy #0x1000 0105 181D0080 bclr 0,y,#0x80 0109 .dbline 124 0109 BD012A jsr _PWM_ON 010C L38: 010C .dbline 128 010C L39: 010C CC0001 ldd #1 010F BD0000 jsr _analog 0112 83000A subd #10 0115 ED02 std 2,x 0117 EC06 ldd 6,x 0119 1AA302 cpd 2,x 011C 25EE blo L38 011E .dbline 130 011E BD0141 jsr _PWM_OFF 0121 .dbline 131 0121 L36: 0121 .dbline 133 0121 L30: 0121 08 inx 0122 08 inx 0123 08 inx 0124 08 inx 0125 35 txs 0126 38 pulx 0127 1838 puly 0129 39 rts ; IX -> 0,x 012A _PWM_ON:: 012A .dbfunc PWM_ON 012A .dbline 140 012A CC01A9 ldd #L42 012D BD0000 jsr _printf 0130 .dbline 141 0130 18CE1022 ldy #0x1022 0134 181C0040 bset 0,y,#64 0138 .dbline 142 0138 18CE1020 ldy #0x1020 013C 181C00C0 bset 0,y,#192 0140 .dbline 144 0140 L41: 0140 39 rts ; IX -> 0,x 0141 _PWM_OFF:: 0141 .dbfunc PWM_OFF 0141 .dbline 151 0141 18CE1022 ldy #0x1022 0145 181D0040 bclr 0,y,#0x40 0149 .dbline 152 0149 18CE1020 ldy #0x1020 014D 181C0080 bset 0,y,#128 0151 .dbline 153 0151 18CE100B ldy #0x100b 0155 181C0040 bset 0,y,#64 0159 .dbline 154 0159 L43: 0159 39 rts ; IX -> 0,x ; rMEM -> 2,x 015A _TOC2_isr:: 015A BD0000 jsr __enterb 015D 04 .byte 0x4 015E .dbfunc TOC2_isr 015E .dbline 161 ; ; /***************************OC2_ISR****************************/ ; void TOC2_isr() ; {//OC2 interrupt; adds duty cycle time to next interrupt and clears flags ; ; if (TCTL1 & 0x40) 015E 18CE1020 ldy #0x1020 0162 181F00401B brclr 0,y,#64,L45 0167 .dbline 163 ; { ; CLEAR_BIT (TCTL1, 0x40); //Clear bit to set for falling edge next interrupt 0167 18CE1020 ldy #0x1020 016B 181D0040 bclr 0,y,#0x40 016F .dbline 164 ; SET_BIT(TCTL1, 0x80); 016F 18CE1020 ldy #0x1020 0173 181C0080 bset 0,y,#128 0177 .dbline 165 ; TOC2 += duty_cycle; //Add time to TOC2 for duty cycle ; vol 0177 FC1018 ldd 0x1018 017A F30008 addd _duty_cycle 017D FD1018 std 0x1018 0180 .dbline 166 ; } 0180 2018 bra L46 0182 L45: 0182 .dbline 170 ; ; else ; { ; SET_BIT (TCTL1, 0xC0); 0182 18CE1020 ldy #0x1020 0186 181C00C0 bset 0,y,#192 018A .dbline 171 ; TOC2 += (period - duty_cycle); 018A FC0006 ldd _period 018D B30008 subd _duty_cycle 0190 ED02 std 2,x ; vol 0192 FC1018 ldd 0x1018 0195 E302 addd 2,x 0197 FD1018 std 0x1018 019A .dbline 172 ; } 019A L46: 019A .dbline 175 ; ; ; CLEAR_FLAG(TFLG1, 0x40); //Clear interrupt flag 019A 18CE1023 ldy #0x1023 019E 181D00BF bclr 0,y,#0xbf 01A2 .dbline 176 ; } 01A2 L44: 01A2 08 inx 01A3 08 inx 01A4 08 inx 01A5 08 inx 01A6 35 txs 01A7 38 pulx 01A8 3B rti .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 01A9 L42: 01A9 596F752772652061742050574D2E0A00 .byte 'Y,'o,'u,39,'r,'e,32,'a,'t,32,'P,'W,'M,46,10,0 01B9 L29: 01B9 456E7465722074686520646573697265 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'s,'i,'r,'e 01C9 6420706F736974696F6E0A00 .byte 'd,32,'p,'o,'s,'i,'t,'i,'o,'n,10,0 01D5 L28: 01D5 456E746572206E756D626572206F6620 .byte 'E,'n,'t,'e,'r,32,'n,'u,'m,'b,'e,'r,32,'o,'f,32 01E5 6520636C6F636B7320666F7220746865 .byte 'e,32,'c,'l,'o,'c,'k,'s,32,'f,'o,'r,32,'t,'h,'e 01F5 2064757479206379636C650A00 .byte 32,'d,'u,'t,'y,32,'c,'y,'c,'l,'e,10,0 0202 L27: 0202 456E74657220746865206E756D626572 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'n,'u,'m,'b,'e,'r 0212 206F6620636C6F636B7320666F722074 .byte 32,'o,'f,32,'c,'l,'o,'c,'k,'s,32,'f,'o,'r,32,'t 0222 686520706572696F640A00 .byte 'h,'e,32,'p,'e,'r,'i,'o,'d,10,0 022D L23: 022D 504E45554D415449432043594C494E44 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D 023D 455220444941474E4F53544943205052 .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R 024D 4F4752414D0A0A00 .byte 'O,'G,'R,'A,'M,10,10,0 0255 L22: 0255 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 0265 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 0275 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 0285 653A09094A616E756172792C20323030 .byte 'e,58,9,9,'J,'a,'n,'u,'a,'r,'y,44,32,50,48,48 0295 300A0956657273696F6E0909310A0A00 .byte 48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0 02A5 L21: 02A5 257300 .byte 37,'s,0