.module valve2.c .dbfile valve2.c .area text ; IX -> 0,x _SCI_isr:: .dbfile C:\ICCTJP\include/isrdecl.h .dbfunc SCI_isr .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(); L2: rti ; IX -> 0,x _SPI_isr:: .dbfunc SPI_isr .dbline 47 ; /******************** End of Function Declarations *********************/ ; ; ; /**************************** Main **************************************/ ; ; unsigned int x, y, z; L3: rti ; IX -> 0,x _PAIE_isr:: .dbfunc PAIE_isr .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"*/ L4: rti ; IX -> 0,x _PAV_isr:: .dbfunc PAV_isr .dbline 59 ; char place[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; init_analog(); ; init_clocktjp(); ; init_serial(); L5: rti ; IX -> 0,x _TOF_isr:: .dbfunc TOF_isr .dbline 65 ; ; INTR_ON(); /*turn on HC11 interrupt system*/ ; ; printf("%s", clear); ; printf("%s", place); ; L6: rti ; IX -> 0,x _TOC3_isr:: .dbfunc TOC3_isr .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*/ L7: rti ; IX -> 0,x _TIC3_isr:: .dbfunc TIC3_isr .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 L8: rti ; IX -> 0,x _TIC2_isr:: .dbfunc TIC2_isr .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 ; { L9: rti ; IX -> 0,x _TIC1_isr:: .dbfunc TIC1_isr .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); L10: rti ; IX -> 0,x _RTI_isr:: .dbfunc RTI_isr .dbline 119 ; } ; ; PWM_OFF(); //Turn off PWM system ; return; ; } ; L11: rti ; IX -> 0,x _IRQ_isr:: .dbfunc IRQ_isr .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 ; L12: rti ; IX -> 0,x _XIRQ_isr:: .dbfunc XIRQ_isr .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; L13: rti ; IX -> 0,x _SWI_isr:: .dbfunc SWI_isr .dbline 137 ; } ; } ; ; ; ; /***************************PWM_ON*****************************/ L14: rti ; IX -> 0,x _ILLOP_isr:: .dbfunc ILLOP_isr .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 ; L15: rti ; IX -> 0,x _COP_isr:: .dbfunc COP_isr .dbline 149 ; } ; ; ; /****************************PWM_OFF***************************/ ; void PWM_OFF() ; {//This turns off the PWM system on OC2 and sets the line to 0 L16: rti ; IX -> 0,x _CLMON_isr:: .dbfunc CLMON_isr .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 ; } ; L17: rti .area data _drew:: .blkw 1 .area idata .word _interrupt_vectors .area text L19: .byte 27,91,50,'J,4,0 L20: .byte 27,91,49,59,49,'H,0 ; IX -> 0,x ; place -> 3,x ; clear -> 10,x _main:: jsr __enterb .byte 0x10 .dbfile valve2.c .dbfunc main .dbline 51 ldd 0,x addd #10 ldy #L19 pshx xgdx ldd #6 jsr __asgnblk pulx .dbline 54 ldd 0,x addd #3 ldy #L20 pshx xgdx ldd #7 jsr __asgnblk pulx .dbline 56 ldy #0x1026 bset 0,y,#128 .dbline 57 jsr _init_analog .dbline 58 jsr _init_clocktjp .dbline 59 jsr _init_serial cli .dbline 63 ldd 0,x addd #10 pshb psha ldd #L21 jsr _printf puly .dbline 64 ldd 0,x addd #3 pshb psha ldd #L21 jsr _printf puly .dbline 66 ldd #L22 jsr _printf .dbline 71 ldd #L23 jsr _printf bra L25 L24: .dbline 75 ldd #L27 jsr _printf .dbline 76 jsr _read_int std _period .dbline 77 ldd #L28 jsr _printf .dbline 78 jsr _read_int std _duty_cycle .dbline 79 ldd #L29 jsr _printf .dbline 80 jsr _read_int std _z .dbline 82 ldd _z jsr _valve_position .dbline 87 L25: .dbline 73 bra L24 L18: xgdx addd #16 xgdx txs pulx rts ; IX -> 0,x ; rMEM -> 2,x ; position -> 6,x _valve_position:: jsr __enterb .byte 0x44 .dbfunc valve_position .dbline 106 ldd #1 jsr _analog addd #10 std 2,x ldd 6,x cpd 2,x bls L31 .dbline 109 ldy #0x1000 bset 0,y,#128 .dbline 110 jsr _PWM_ON L33: .dbline 114 L34: ldd #1 jsr _analog addd #10 std 2,x ldd 6,x cpd 2,x bhi L33 .dbline 116 jsr _PWM_OFF .dbline 117 bra L30 L31: .dbline 120 ldd #1 jsr _analog subd #10 std 2,x ldd 6,x cpd 2,x bhs L36 .dbline 123 ldy #0x1000 bclr 0,y,#0x80 .dbline 124 jsr _PWM_ON L38: .dbline 128 L39: ldd #1 jsr _analog subd #10 std 2,x ldd 6,x cpd 2,x blo L38 .dbline 130 jsr _PWM_OFF .dbline 131 L36: .dbline 133 L30: inx inx inx inx txs pulx puly rts ; IX -> 0,x _PWM_ON:: .dbfunc PWM_ON .dbline 140 ldd #L42 jsr _printf .dbline 141 ldy #0x1022 bset 0,y,#64 .dbline 142 ldy #0x1020 bset 0,y,#192 .dbline 144 L41: rts ; IX -> 0,x _PWM_OFF:: .dbfunc PWM_OFF .dbline 151 ldy #0x1022 bclr 0,y,#0x40 .dbline 152 ldy #0x1020 bset 0,y,#128 .dbline 153 ldy #0x100b bset 0,y,#64 .dbline 154 L43: rts ; IX -> 0,x ; rMEM -> 2,x _TOC2_isr:: jsr __enterb .byte 0x4 .dbfunc TOC2_isr .dbline 161 ; ; /***************************OC2_ISR****************************/ ; void TOC2_isr() ; {//OC2 interrupt; adds duty cycle time to next interrupt and clears flags ; ; if (TCTL1 & 0x40) ldy #0x1020 brclr 0,y,#64,L45 .dbline 163 ; { ; CLEAR_BIT (TCTL1, 0x40); //Clear bit to set for falling edge next interrupt ldy #0x1020 bclr 0,y,#0x40 .dbline 164 ; SET_BIT(TCTL1, 0x80); ldy #0x1020 bset 0,y,#128 .dbline 165 ; TOC2 += duty_cycle; //Add time to TOC2 for duty cycle ; vol ldd 0x1018 addd _duty_cycle std 0x1018 .dbline 166 ; } bra L46 L45: .dbline 170 ; ; else ; { ; SET_BIT (TCTL1, 0xC0); ldy #0x1020 bset 0,y,#192 .dbline 171 ; TOC2 += (period - duty_cycle); ldd _period subd _duty_cycle std 2,x ; vol ldd 0x1018 addd 2,x std 0x1018 .dbline 172 ; } L46: .dbline 175 ; ; ; CLEAR_FLAG(TFLG1, 0x40); //Clear interrupt flag ldy #0x1023 bclr 0,y,#0xbf .dbline 176 ; } L44: inx inx inx inx txs pulx rti .area bss _z:: .blkb 2 _y:: .blkb 2 _x:: .blkb 2 _period:: .blkb 2 _duty_cycle:: .blkb 2 _timertjp:: .blkb 2 _days:: .blkb 2 _hours:: .blkb 2 _minutes:: .blkb 2 _seconds:: .blkb 2 _msec:: .blkb 2 .area text L42: .byte 'Y,'o,'u,39,'r,'e,32,'a,'t,32,'P,'W,'M,46,10,0 L29: .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'s,'i,'r,'e .byte 'd,32,'p,'o,'s,'i,'t,'i,'o,'n,10,0 L28: .byte 'E,'n,'t,'e,'r,32,'n,'u,'m,'b,'e,'r,32,'o,'f,32 .byte 'e,32,'c,'l,'o,'c,'k,'s,32,'f,'o,'r,32,'t,'h,'e .byte 32,'d,'u,'t,'y,32,'c,'y,'c,'l,'e,10,0 L27: .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'n,'u,'m,'b,'e,'r .byte 32,'o,'f,32,'c,'l,'o,'c,'k,'s,32,'f,'o,'r,32,'t .byte 'h,'e,32,'p,'e,'r,'i,'o,'d,10,0 L23: .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R .byte 'O,'G,'R,'A,'M,10,10,0 L22: .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t .byte 'e,58,9,9,'J,'a,'n,'u,'a,'r,'y,44,32,50,48,48 .byte 48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0 L21: .byte 37,'s,0