.module valve2.c --- 0000 .dbfile valve2.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .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(); 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .dbline 47 ; /******************** End of Function Declarations *********************/ ; ; ; /**************************** Main **************************************/ ; ; unsigned int x, y, z; 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .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"*/ 9815 L4: 9815 3B rti ; IX -> 0,x 9816 _PAV_isr:: 9816 .dbfunc PAV_isr 9816 .dbline 59 ; char place[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; init_analog(); ; init_clocktjp(); ; init_serial(); 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOF_isr:: 9817 .dbfunc TOF_isr 9817 .dbline 65 ; ; INTR_ON(); /*turn on HC11 interrupt system*/ ; ; printf("%s", clear); ; printf("%s", place); ; 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TOC3_isr:: 9818 .dbfunc TOC3_isr 9818 .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*/ 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC3_isr:: 9819 .dbfunc TIC3_isr 9819 .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 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC2_isr:: 981A .dbfunc TIC2_isr 981A .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 ; { 981A L9: 981A 3B rti ; IX -> 0,x 981B _TIC1_isr:: 981B .dbfunc TIC1_isr 981B .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); 981B L10: 981B 3B rti ; IX -> 0,x 981C _RTI_isr:: 981C .dbfunc RTI_isr 981C .dbline 119 ; } ; ; PWM_OFF(); //Turn off PWM system ; return; ; } ; 981C L11: 981C 3B rti ; IX -> 0,x 981D _IRQ_isr:: 981D .dbfunc IRQ_isr 981D .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 ; 981D L12: 981D 3B rti ; IX -> 0,x 981E _XIRQ_isr:: 981E .dbfunc XIRQ_isr 981E .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; 981E L13: 981E 3B rti ; IX -> 0,x 981F _SWI_isr:: 981F .dbfunc SWI_isr 981F .dbline 137 ; } ; } ; ; ; ; /***************************PWM_ON*****************************/ 981F L14: 981F 3B rti ; IX -> 0,x 9820 _ILLOP_isr:: 9820 .dbfunc ILLOP_isr 9820 .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 ; 9820 L15: 9820 3B rti ; IX -> 0,x 9821 _COP_isr:: 9821 .dbfunc COP_isr 9821 .dbline 149 ; } ; ; ; /****************************PWM_OFF***************************/ ; void PWM_OFF() ; {//This turns off the PWM system on OC2 and sets the line to 0 9821 L16: 9821 3B rti ; IX -> 0,x 9822 _CLMON_isr:: 9822 .dbfunc CLMON_isr 9822 .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 ; } ; 9822 L17: 9822 3B rti .area data 9ABD _drew:: 9ABD .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 9830 _main:: 9830 BD86BA jsr __enterb 9833 10 .byte 0x10 9834 .dbfile valve2.c 9834 .dbfunc main 9834 .dbline 51 9834 EC00 ldd 0,x 9836 C3000A addd #10 9839 18CE9823 ldy #L19 983D 3C pshx 983E 8F xgdx 983F CC0006 ldd #6 9842 BD86A2 jsr __asgnblk 9845 38 pulx 9846 .dbline 54 9846 EC00 ldd 0,x 9848 C30003 addd #3 984B 18CE9829 ldy #L20 984F 3C pshx 9850 8F xgdx 9851 CC0007 ldd #7 9854 BD86A2 jsr __asgnblk 9857 38 pulx 9858 .dbline 56 9858 18CE1026 ldy #0x1026 985C 181C0080 bset 0,y,#128 9860 .dbline 57 9860 BD813B jsr _init_analog 9863 .dbline 58 9863 BD8040 jsr _init_clocktjp 9866 .dbline 59 9866 BD8381 jsr _init_serial 9869 0E cli 986A .dbline 63 986A EC00 ldd 0,x 986C C3000A addd #10 986F 37 pshb 9870 36 psha 9871 CC9AB8 ldd #L21 9874 BD9442 jsr _printf 9877 1838 puly 9879 .dbline 64 9879 EC00 ldd 0,x 987B C30003 addd #3 987E 37 pshb 987F 36 psha 9880 CC9AB8 ldd #L21 9883 BD9442 jsr _printf 9886 1838 puly 9888 .dbline 66 9888 CC9A68 ldd #L22 988B BD9442 jsr _printf 988E .dbline 71 988E CC9A40 ldd #L23 9891 BD9442 jsr _printf 9894 202A bra L25 9896 L24: 9896 .dbline 75 9896 CC9A15 ldd #L27 9899 BD9442 jsr _printf 989C .dbline 76 989C BD856F jsr _read_int 989F FD9ADC std _period 98A2 .dbline 77 98A2 CC99E8 ldd #L28 98A5 BD9442 jsr _printf 98A8 .dbline 78 98A8 BD856F jsr _read_int 98AB FD9ADE std _duty_cycle 98AE .dbline 79 98AE CC99CC ldd #L29 98B1 BD9442 jsr _printf 98B4 .dbline 80 98B4 BD856F jsr _read_int 98B7 FD9AD6 std _z 98BA .dbline 82 98BA FC9AD6 ldd _z 98BD BD98CA jsr _valve_position 98C0 .dbline 87 98C0 L25: 98C0 .dbline 73 98C0 20D4 bra L24 98C2 L18: 98C2 8F xgdx 98C3 C30010 addd #16 98C6 8F xgdx 98C7 35 txs 98C8 38 pulx 98C9 39 rts ; IX -> 0,x ; rMEM -> 2,x ; position -> 6,x 98CA _valve_position:: 98CA BD86BA jsr __enterb 98CD 44 .byte 0x44 98CE .dbfunc valve_position 98CE .dbline 106 98CE CC0001 ldd #1 98D1 BD8144 jsr _analog 98D4 C3000A addd #10 98D7 ED02 std 2,x 98D9 EC06 ldd 6,x 98DB 1AA302 cpd 2,x 98DE 2322 bls L31 98E0 .dbline 109 98E0 18CE1000 ldy #0x1000 98E4 181C0080 bset 0,y,#128 98E8 .dbline 110 98E8 BD993D jsr _PWM_ON 98EB L33: 98EB .dbline 114 98EB L34: 98EB CC0001 ldd #1 98EE BD8144 jsr _analog 98F1 C3000A addd #10 98F4 ED02 std 2,x 98F6 EC06 ldd 6,x 98F8 1AA302 cpd 2,x 98FB 22EE bhi L33 98FD .dbline 116 98FD BD9954 jsr _PWM_OFF 9900 .dbline 117 9900 2032 bra L30 9902 L31: 9902 .dbline 120 9902 CC0001 ldd #1 9905 BD8144 jsr _analog 9908 83000A subd #10 990B ED02 std 2,x 990D EC06 ldd 6,x 990F 1AA302 cpd 2,x 9912 2420 bhs L36 9914 .dbline 123 9914 18CE1000 ldy #0x1000 9918 181D0080 bclr 0,y,#0x80 991C .dbline 124 991C BD993D jsr _PWM_ON 991F L38: 991F .dbline 128 991F L39: 991F CC0001 ldd #1 9922 BD8144 jsr _analog 9925 83000A subd #10 9928 ED02 std 2,x 992A EC06 ldd 6,x 992C 1AA302 cpd 2,x 992F 25EE blo L38 9931 .dbline 130 9931 BD9954 jsr _PWM_OFF 9934 .dbline 131 9934 L36: 9934 .dbline 133 9934 L30: 9934 08 inx 9935 08 inx 9936 08 inx 9937 08 inx 9938 35 txs 9939 38 pulx 993A 1838 puly 993C 39 rts ; IX -> 0,x 993D _PWM_ON:: 993D .dbfunc PWM_ON 993D .dbline 140 993D CC99BC ldd #L42 9940 BD9442 jsr _printf 9943 .dbline 141 9943 18CE1022 ldy #0x1022 9947 181C0040 bset 0,y,#64 994B .dbline 142 994B 18CE1020 ldy #0x1020 994F 181C00C0 bset 0,y,#192 9953 .dbline 144 9953 L41: 9953 39 rts ; IX -> 0,x 9954 _PWM_OFF:: 9954 .dbfunc PWM_OFF 9954 .dbline 151 9954 18CE1022 ldy #0x1022 9958 181D0040 bclr 0,y,#0x40 995C .dbline 152 995C 18CE1020 ldy #0x1020 9960 181C0080 bset 0,y,#128 9964 .dbline 153 9964 18CE100B ldy #0x100b 9968 181C0040 bset 0,y,#64 996C .dbline 154 996C L43: 996C 39 rts ; IX -> 0,x ; rMEM -> 2,x 996D _TOC2_isr:: 996D BD86BA jsr __enterb 9970 04 .byte 0x4 9971 .dbfunc TOC2_isr 9971 .dbline 161 ; ; /***************************OC2_ISR****************************/ ; void TOC2_isr() ; {//OC2 interrupt; adds duty cycle time to next interrupt and clears flags ; ; if (TCTL1 & 0x40) 9971 18CE1020 ldy #0x1020 9975 181F00401B brclr 0,y,#64,L45 997A .dbline 163 ; { ; CLEAR_BIT (TCTL1, 0x40); //Clear bit to set for falling edge next interrupt 997A 18CE1020 ldy #0x1020 997E 181D0040 bclr 0,y,#0x40 9982 .dbline 164 ; SET_BIT(TCTL1, 0x80); 9982 18CE1020 ldy #0x1020 9986 181C0080 bset 0,y,#128 998A .dbline 165 ; TOC2 += duty_cycle; //Add time to TOC2 for duty cycle ; vol 998A FC1018 ldd 0x1018 998D F39ADE addd _duty_cycle 9990 FD1018 std 0x1018 9993 .dbline 166 ; } 9993 2018 bra L46 9995 L45: 9995 .dbline 170 ; ; else ; { ; SET_BIT (TCTL1, 0xC0); 9995 18CE1020 ldy #0x1020 9999 181C00C0 bset 0,y,#192 999D .dbline 171 ; TOC2 += (period - duty_cycle); 999D FC9ADC ldd _period 99A0 B39ADE subd _duty_cycle 99A3 ED02 std 2,x ; vol 99A5 FC1018 ldd 0x1018 99A8 E302 addd 2,x 99AA FD1018 std 0x1018 99AD .dbline 172 ; } 99AD L46: 99AD .dbline 175 ; ; ; CLEAR_FLAG(TFLG1, 0x40); //Clear interrupt flag 99AD 18CE1023 ldy #0x1023 99B1 181D00BF bclr 0,y,#0xbf 99B5 .dbline 176 ; } 99B5 L44: 99B5 08 inx 99B6 08 inx 99B7 08 inx 99B8 08 inx 99B9 35 txs 99BA 38 pulx 99BB 3B rti .area bss 9AD6 _z:: 9AD6 .blkb 2 9AD8 _y:: 9AD8 .blkb 2 9ADA _x:: 9ADA .blkb 2 9ADC _period:: 9ADC .blkb 2 9ADE _duty_cycle:: 9ADE .blkb 2 9AE0 _timertjp:: 9AE0 .blkb 2 9AE2 _days:: 9AE2 .blkb 2 9AE4 _hours:: 9AE4 .blkb 2 9AE6 _minutes:: 9AE6 .blkb 2 9AE8 _seconds:: 9AE8 .blkb 2 9AEA _msec:: 9AEA .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