.module valve3.c 0000 .dbfile valve3.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 TOC3_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); 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .dbline 47 ; void PWM_ON (); ; void PWM_OFF(); ; /******************** End of Function Declarations *********************/ ; ; ; /**************************** Main **************************************/ 0001 L3: 0001 3B rti ; IX -> 0,x 0002 _PAIE_isr:: 0002 .dbfunc PAIE_isr 0002 .dbline 53 ; ; unsigned int x, y, z; ; void main(void) ; { ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; 0002 L4: 0002 3B rti ; IX -> 0,x 0003 _PAV_isr:: 0003 .dbfunc PAV_isr 0003 .dbline 59 ; ; /* VT100 position cursor at (x,y) = (3,12) command is "\x1b[3;12H"*/ ; char place[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; init_analog(); 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOF_isr:: 0004 .dbfunc TOF_isr 0004 .dbline 65 ; init_clocktjp(); ; init_serial(); ; ; INTR_ON(); /*turn on HC11 interrupt system*/ ; ; printf("%s", clear); 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TOC2_isr:: 0005 .dbfunc TOC2_isr 0005 .dbline 83 ; printf("%s", place); ; ; 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 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); ; 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC3_isr:: 0006 .dbfunc TIC3_isr 0006 .dbline 101 ; // printf("%s", clear); ; // printf("%s", place); ; ; }/*End While*/ ; ; }/*End Main*/ ; ; ; /**************************** 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 ; } 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; ; } ; ; if (position < (valve_sensor - tolerance)) 0009 L11: 0009 3B rti ; IX -> 0,x 000A _IRQ_isr:: 000A .dbfunc IRQ_isr 000A .dbline 125 ; { ; 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 ; ; while (position < (valve_sensor - tolerance)){//wait until position is in desired range 000A L12: 000A 3B rti ; IX -> 0,x 000B _XIRQ_isr:: 000B .dbfunc XIRQ_isr 000B .dbline 131 ; } ; ; PWM_OFF(); ; return; ; } ; } 000B L13: 000B 3B rti ; IX -> 0,x 000C _SWI_isr:: 000C .dbfunc SWI_isr 000C .dbline 137 ; ; ; ; /***************************PWM_ON*****************************/ ; void PWM_ON()//This is the function to generate PWM ; {//This turns on the PWM system on OC2 and enables toggle 000C L14: 000C 3B rti ; IX -> 0,x 000D _ILLOP_isr:: 000D .dbfunc ILLOP_isr 000D .dbline 143 ; printf("You're at PWM.\n"); ; SET_BIT(TMSK1, 0x20); //Enable interrupt on OC2 ; SET_BIT(TCTL1, 0x10); //Enable toggle ; ; } ; 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 OC3 and sets the line to 0 ; CLEAR_BIT(TMSK1, 0x20); //Disable interrupt on OC3 ; SET_BIT(TCTL1, 0x20); //set OC3 line to 0 on compare 000E L16: 000E 3B rti ; IX -> 0,x 000F _CLMON_isr:: 000F .dbfunc CLMON_isr 000F .dbline 155 ; SET_BIT(CFORC, 0x20); //force successful compare ; } ; ; ; /***************************OC3_ISR****************************/ ; void TOC3_isr() 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 valve3.c 0021 .dbfunc main 0021 .dbline 53 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 56 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 58 0045 18CE1026 ldy #0x1026 0049 181C0080 bset 0,y,#128 004D .dbline 59 004D BD0000 jsr _init_analog 0050 .dbline 60 0050 BD0000 jsr _init_clocktjp 0053 .dbline 61 0053 BD0000 jsr _init_serial 0056 0E cli 0057 .dbline 65 0057 EC00 ldd 0,x 0059 C3000A addd #10 005C 37 pshb 005D 36 psha 005E CC029D ldd #L21 0061 BD0000 jsr _printf 0064 1838 puly 0066 .dbline 66 0066 EC00 ldd 0,x 0068 C30003 addd #3 006B 37 pshb 006C 36 psha 006D CC029D ldd #L21 0070 BD0000 jsr _printf 0073 1838 puly 0075 .dbline 68 0075 CC024D ldd #L22 0078 BD0000 jsr _printf 007B .dbline 73 007B CC0225 ldd #L23 007E BD0000 jsr _printf 0081 201E bra L25 0083 L24: 0083 .dbline 77 0083 CC01F8 ldd #L27 0086 BD0000 jsr _printf 0089 .dbline 78 0089 BD0000 jsr _read_int 008C FD0008 std _duty_cycle 008F .dbline 79 008F CC01DC ldd #L28 0092 BD0000 jsr _printf 0095 .dbline 80 0095 BD0000 jsr _read_int 0098 FD0000 std _z 009B .dbline 82 009B FC0000 ldd _z 009E BD00AB jsr _valve_position 00A1 .dbline 87 00A1 L25: 00A1 .dbline 75 00A1 20E0 bra L24 00A3 L18: 00A3 8F xgdx 00A4 C30010 addd #16 00A7 8F xgdx 00A8 35 txs 00A9 38 pulx 00AA 39 rts ; IX -> 0,x ; rMEM -> 2,x ; position -> 6,x 00AB _valve_position:: 00AB BD0000 jsr __enterb 00AE 44 .byte 0x44 00AF .dbfunc valve_position 00AF .dbline 105 00AF CC01AF ldd #L30 00B2 BD0000 jsr _printf 00B5 .dbline 106 00B5 CC0001 ldd #1 00B8 BD0000 jsr _analog 00BB C3000A addd #10 00BE ED02 std 2,x 00C0 EC06 ldd 6,x 00C2 1AA302 cpd 2,x 00C5 2332 bls L31 00C7 .dbline 108 00C7 CC0001 ldd #1 00CA BD0000 jsr _analog 00CD 37 pshb 00CE 36 psha 00CF CC0196 ldd #L33 00D2 BD0000 jsr _printf 00D5 1838 puly 00D7 .dbline 109 00D7 18CE1000 ldy #0x1000 00DB 181C0080 bset 0,y,#128 00DF .dbline 110 00DF BD0144 jsr _PWM_ON 00E2 L34: 00E2 .dbline 113 00E2 L35: 00E2 CC0001 ldd #1 00E5 BD0000 jsr _analog 00E8 C3000A addd #10 00EB ED02 std 2,x 00ED EC06 ldd 6,x 00EF 1AA302 cpd 2,x 00F2 22EE bhi L34 00F4 .dbline 115 00F4 BD015B jsr _PWM_OFF 00F7 .dbline 116 00F7 2042 bra L29 00F9 L31: 00F9 .dbline 119 00F9 CC0001 ldd #1 00FC BD0000 jsr _analog 00FF 83000A subd #10 0102 ED02 std 2,x 0104 EC06 ldd 6,x 0106 1AA302 cpd 2,x 0109 2430 bhs L37 010B .dbline 121 010B CC0001 ldd #1 010E BD0000 jsr _analog 0111 37 pshb 0112 36 psha 0113 CC0196 ldd #L33 0116 BD0000 jsr _printf 0119 1838 puly 011B .dbline 122 011B 18CE1000 ldy #0x1000 011F 181D0080 bclr 0,y,#0x80 0123 .dbline 123 0123 BD0144 jsr _PWM_ON 0126 L39: 0126 .dbline 126 0126 L40: 0126 CC0001 ldd #1 0129 BD0000 jsr _analog 012C 83000A subd #10 012F ED02 std 2,x 0131 EC06 ldd 6,x 0133 1AA302 cpd 2,x 0136 25EE blo L39 0138 .dbline 128 0138 BD015B jsr _PWM_OFF 013B .dbline 129 013B L37: 013B .dbline 131 013B L29: 013B 08 inx 013C 08 inx 013D 08 inx 013E 08 inx 013F 35 txs 0140 38 pulx 0141 1838 puly 0143 39 rts ; IX -> 0,x 0144 _PWM_ON:: 0144 .dbfunc PWM_ON 0144 .dbline 138 0144 CC0186 ldd #L43 0147 BD0000 jsr _printf 014A .dbline 139 014A 18CE1022 ldy #0x1022 014E 181C0020 bset 0,y,#32 0152 .dbline 140 0152 18CE1020 ldy #0x1020 0156 181C0010 bset 0,y,#16 015A .dbline 142 015A L42: 015A 39 rts ; IX -> 0,x 015B _PWM_OFF:: 015B .dbfunc PWM_OFF 015B .dbline 148 015B 18CE1022 ldy #0x1022 015F 181D0020 bclr 0,y,#0x20 0163 .dbline 149 0163 18CE1020 ldy #0x1020 0167 181C0020 bset 0,y,#32 016B .dbline 150 016B 18CE100B ldy #0x100b 016F 181C0020 bset 0,y,#32 0173 .dbline 151 0173 L44: 0173 39 rts ; IX -> 0,x 0174 _TOC3_isr:: 0174 .dbfunc TOC3_isr 0174 .dbline 157 ; {//OC3 interrupt; adds duty cycle time to next interrupt and clears flags ; TOC3 += duty_cycle; //Add time to TOC2 for duty cycle ; vol 0174 FC101A ldd 0x101a 0177 F30008 addd _duty_cycle 017A FD101A std 0x101a 017D .dbline 158 ; CLEAR_FLAG(TFLG1, 0x20); //Clear interrupt flag 017D 18CE1023 ldy #0x1023 0181 181D00DF bclr 0,y,#0xdf 0185 .dbline 159 ; } 0185 L45: 0185 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 0186 L43: 0186 596F752772652061742050574D2E0A00 .byte 'Y,'o,'u,39,'r,'e,32,'a,'t,32,'P,'W,'M,46,10,0 0196 L33: 0196 54686520616E616C6F672076616C7565 .byte 'T,'h,'e,32,'a,'n,'a,'l,'o,'g,32,'v,'a,'l,'u,'e 01A6 2069733A0925640A00 .byte 32,'i,'s,58,9,37,'d,10,0 01AF L30: 01AF 596F7527726520206174207468652062 .byte 'Y,'o,'u,39,'r,'e,32,32,'a,'t,32,'t,'h,'e,32,'b 01BF 6567696E6E696E67206F662076616C76 .byte 'e,'g,'i,'n,'n,'i,'n,'g,32,'o,'f,32,'v,'a,'l,'v 01CF 655F706F736974696F6E2E0A00 .byte 'e,95,'p,'o,'s,'i,'t,'i,'o,'n,46,10,0 01DC L28: 01DC 456E7465722074686520646573697265 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'s,'i,'r,'e 01EC 6420706F736974696F6E0A00 .byte 'd,32,'p,'o,'s,'i,'t,'i,'o,'n,10,0 01F8 L27: 01F8 456E746572206E756D626572206F6620 .byte 'E,'n,'t,'e,'r,32,'n,'u,'m,'b,'e,'r,32,'o,'f,32 0208 6520636C6F636B7320666F7220746865 .byte 'e,32,'c,'l,'o,'c,'k,'s,32,'f,'o,'r,32,'t,'h,'e 0218 2064757479206379636C650A00 .byte 32,'d,'u,'t,'y,32,'c,'y,'c,'l,'e,10,0 0225 L23: 0225 504E45554D415449432043594C494E44 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D 0235 455220444941474E4F53544943205052 .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R 0245 4F4752414D0A0A00 .byte 'O,'G,'R,'A,'M,10,10,0 024D L22: 024D 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 025D 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 026D 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 027D 653A09094A616E756172792C20323030 .byte 'e,58,9,9,'J,'a,'n,'u,'a,'r,'y,44,32,50,48,48 028D 300A0956657273696F6E0909310A0A00 .byte 48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0 029D L21: 029D 257300 .byte 37,'s,0