.module valve3.c --- 0000 .dbfile valve3.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 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); 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .dbline 47 ; void PWM_ON (); ; void PWM_OFF(); ; /******************** End of Function Declarations *********************/ ; ; ; /**************************** Main **************************************/ 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .dbline 53 ; ; unsigned int x, y, z; ; void main(void) ; { ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; 9815 L4: 9815 3B rti ; IX -> 0,x 9816 _PAV_isr:: 9816 .dbfunc PAV_isr 9816 .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(); 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOF_isr:: 9817 .dbfunc TOF_isr 9817 .dbline 65 ; init_clocktjp(); ; init_serial(); ; ; INTR_ON(); /*turn on HC11 interrupt system*/ ; ; printf("%s", clear); 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TOC2_isr:: 9818 .dbfunc TOC2_isr 9818 .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); ; 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC3_isr:: 9819 .dbfunc TIC3_isr 9819 .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 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 ; } 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; ; } ; ; if (position < (valve_sensor - tolerance)) 981C L11: 981C 3B rti ; IX -> 0,x 981D _IRQ_isr:: 981D .dbfunc IRQ_isr 981D .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 981D L12: 981D 3B rti ; IX -> 0,x 981E _XIRQ_isr:: 981E .dbfunc XIRQ_isr 981E .dbline 131 ; } ; ; PWM_OFF(); ; return; ; } ; } 981E L13: 981E 3B rti ; IX -> 0,x 981F _SWI_isr:: 981F .dbfunc SWI_isr 981F .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 981F L14: 981F 3B rti ; IX -> 0,x 9820 _ILLOP_isr:: 9820 .dbfunc ILLOP_isr 9820 .dbline 143 ; printf("You're at PWM.\n"); ; SET_BIT(TMSK1, 0x20); //Enable interrupt on OC2 ; SET_BIT(TCTL1, 0x10); //Enable toggle ; ; } ; 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 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 9821 L16: 9821 3B rti ; IX -> 0,x 9822 _CLMON_isr:: 9822 .dbfunc CLMON_isr 9822 .dbline 155 ; SET_BIT(CFORC, 0x20); //force successful compare ; } ; ; ; /***************************OC3_ISR****************************/ ; void TOC3_isr() 9822 L17: 9822 3B rti .area data 9AB5 _drew:: 9AB5 .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 valve3.c 9834 .dbfunc main 9834 .dbline 53 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 56 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 58 9858 18CE1026 ldy #0x1026 985C 181C0080 bset 0,y,#128 9860 .dbline 59 9860 BD813B jsr _init_analog 9863 .dbline 60 9863 BD8040 jsr _init_clocktjp 9866 .dbline 61 9866 BD8381 jsr _init_serial 9869 0E cli 986A .dbline 65 986A EC00 ldd 0,x 986C C3000A addd #10 986F 37 pshb 9870 36 psha 9871 CC9AB0 ldd #L21 9874 BD9442 jsr _printf 9877 1838 puly 9879 .dbline 66 9879 EC00 ldd 0,x 987B C30003 addd #3 987E 37 pshb 987F 36 psha 9880 CC9AB0 ldd #L21 9883 BD9442 jsr _printf 9886 1838 puly 9888 .dbline 68 9888 CC9A60 ldd #L22 988B BD9442 jsr _printf 988E .dbline 73 988E CC9A38 ldd #L23 9891 BD9442 jsr _printf 9894 201E bra L25 9896 L24: 9896 .dbline 77 9896 CC9A0B ldd #L27 9899 BD9442 jsr _printf 989C .dbline 78 989C BD856F jsr _read_int 989F FD9AD6 std _duty_cycle 98A2 .dbline 79 98A2 CC99EF ldd #L28 98A5 BD9442 jsr _printf 98A8 .dbline 80 98A8 BD856F jsr _read_int 98AB FD9ACE std _z 98AE .dbline 82 98AE FC9ACE ldd _z 98B1 BD98BE jsr _valve_position 98B4 .dbline 87 98B4 L25: 98B4 .dbline 75 98B4 20E0 bra L24 98B6 L18: 98B6 8F xgdx 98B7 C30010 addd #16 98BA 8F xgdx 98BB 35 txs 98BC 38 pulx 98BD 39 rts ; IX -> 0,x ; rMEM -> 2,x ; position -> 6,x 98BE _valve_position:: 98BE BD86BA jsr __enterb 98C1 44 .byte 0x44 98C2 .dbfunc valve_position 98C2 .dbline 105 98C2 CC99C2 ldd #L30 98C5 BD9442 jsr _printf 98C8 .dbline 106 98C8 CC0001 ldd #1 98CB BD8144 jsr _analog 98CE C3000A addd #10 98D1 ED02 std 2,x 98D3 EC06 ldd 6,x 98D5 1AA302 cpd 2,x 98D8 2332 bls L31 98DA .dbline 108 98DA CC0001 ldd #1 98DD BD8144 jsr _analog 98E0 37 pshb 98E1 36 psha 98E2 CC99A9 ldd #L33 98E5 BD9442 jsr _printf 98E8 1838 puly 98EA .dbline 109 98EA 18CE1000 ldy #0x1000 98EE 181C0080 bset 0,y,#128 98F2 .dbline 110 98F2 BD9957 jsr _PWM_ON 98F5 L34: 98F5 .dbline 113 98F5 L35: 98F5 CC0001 ldd #1 98F8 BD8144 jsr _analog 98FB C3000A addd #10 98FE ED02 std 2,x 9900 EC06 ldd 6,x 9902 1AA302 cpd 2,x 9905 22EE bhi L34 9907 .dbline 115 9907 BD996E jsr _PWM_OFF 990A .dbline 116 990A 2042 bra L29 990C L31: 990C .dbline 119 990C CC0001 ldd #1 990F BD8144 jsr _analog 9912 83000A subd #10 9915 ED02 std 2,x 9917 EC06 ldd 6,x 9919 1AA302 cpd 2,x 991C 2430 bhs L37 991E .dbline 121 991E CC0001 ldd #1 9921 BD8144 jsr _analog 9924 37 pshb 9925 36 psha 9926 CC99A9 ldd #L33 9929 BD9442 jsr _printf 992C 1838 puly 992E .dbline 122 992E 18CE1000 ldy #0x1000 9932 181D0080 bclr 0,y,#0x80 9936 .dbline 123 9936 BD9957 jsr _PWM_ON 9939 L39: 9939 .dbline 126 9939 L40: 9939 CC0001 ldd #1 993C BD8144 jsr _analog 993F 83000A subd #10 9942 ED02 std 2,x 9944 EC06 ldd 6,x 9946 1AA302 cpd 2,x 9949 25EE blo L39 994B .dbline 128 994B BD996E jsr _PWM_OFF 994E .dbline 129 994E L37: 994E .dbline 131 994E L29: 994E 08 inx 994F 08 inx 9950 08 inx 9951 08 inx 9952 35 txs 9953 38 pulx 9954 1838 puly 9956 39 rts ; IX -> 0,x 9957 _PWM_ON:: 9957 .dbfunc PWM_ON 9957 .dbline 138 9957 CC9999 ldd #L43 995A BD9442 jsr _printf 995D .dbline 139 995D 18CE1022 ldy #0x1022 9961 181C0020 bset 0,y,#32 9965 .dbline 140 9965 18CE1020 ldy #0x1020 9969 181C0010 bset 0,y,#16 996D .dbline 142 996D L42: 996D 39 rts ; IX -> 0,x 996E _PWM_OFF:: 996E .dbfunc PWM_OFF 996E .dbline 148 996E 18CE1022 ldy #0x1022 9972 181D0020 bclr 0,y,#0x20 9976 .dbline 149 9976 18CE1020 ldy #0x1020 997A 181C0020 bset 0,y,#32 997E .dbline 150 997E 18CE100B ldy #0x100b 9982 181C0020 bset 0,y,#32 9986 .dbline 151 9986 L44: 9986 39 rts ; IX -> 0,x 9987 _TOC3_isr:: 9987 .dbfunc TOC3_isr 9987 .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 9987 FC101A ldd 0x101a 998A F39AD6 addd _duty_cycle 998D FD101A std 0x101a 9990 .dbline 158 ; CLEAR_FLAG(TFLG1, 0x20); //Clear interrupt flag 9990 18CE1023 ldy #0x1023 9994 181D00DF bclr 0,y,#0xdf 9998 .dbline 159 ; } 9998 L45: 9998 3B rti .area bss 9ACE _z:: 9ACE .blkb 2 9AD0 _y:: 9AD0 .blkb 2 9AD2 _x:: 9AD2 .blkb 2 9AD4 _period:: 9AD4 .blkb 2 9AD6 _duty_cycle:: 9AD6 .blkb 2 9AD8 _timertjp:: 9AD8 .blkb 2 9ADA _days:: 9ADA .blkb 2 9ADC _hours:: 9ADC .blkb 2 9ADE _minutes:: 9ADE .blkb 2 9AE0 _seconds:: 9AE0 .blkb 2 9AE2 _msec:: 9AE2 .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