.module valve4.c 0000 .dbfile valve4.c .area text ; IX -> 0,x 0000 _SCI_isr:: 0000 .dbfile C:\ICCTJP\include/isrdecl.h 0000 .dbfunc SCI_isr 0000 .dbline 41 ; /************************************************************************************************************************ ; * Program: finally.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 * ; * Date: February 3, 2000 * ; ************************************************************************************************************************/ ; ; /**************************** Constants *********************************/ ; #define pulse_handler TOC2_isr ; #define tolerance 10 ; #define valve_sensor analog(1) ; /**************************** End of Constants **************************/ ; ; /*************************** Interrupts *********************************/ ; #pragma interrupt_handler TOC2_isr, RTI_isr, TOF_isr; ; /*************************** End of Interrupts **************************/ ; ; /************************** Includes ************************************/ ; #include ; #include ; #include ; #include ; #include ; /************************ End of includes *******************************/ ; ; /************************** Global Variables*****************************/ ; long duty_cycle; //duty_cycle in e clocks ; long period; //period in e clocks ; int error = 0; ; int gain; ; int desired = 150; ; long count = 0; ; ; /************************ End of Global Variables ***********************/ ; ; 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .dbline 47 ; /************************** Function Declarations **********************/ ; void init_pulse(); //Initilizes TOC for PWM interrupts ; void pulse_handler(); //This is the function executed at each TOC2_isr ; /******************** End of Function Declarations *********************/ ; ; 0001 L3: 0001 3B rti ; IX -> 0,x 0002 _PAIE_isr:: 0002 .dbfunc PAIE_isr 0002 .dbline 53 ; /**************************** Main **************************************/ ; ; 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); ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOC3_isr:: 0004 .dbfunc TOC3_isr 0004 .dbline 89 ; SET_BIT(TMSK2, 0x40);//Enable RTI nterrupt ; ; init_pulse(); ; init_analog(); ; init_serial(); ; ; //printf("%s", clear); ; //printf("%s", place); ; ; printf("\tTitle:\t\tvalve.c\n" ; "\tProgrammer:\tScott Nortman\n" ; "\tDate:\t\tFebruary, 2000\n" ; "\tVersion\t\t1\n\n"); ; ; printf("PNEUMATIC CYLINDER DIAGNOSTIC PROGRAM\n\n"); ; printf("Enter the desired period in e clocks:\n"); ; period = (read_int() * 1000); ; printf("Enter the gain\n"); ; gain = read_int(); ; INTR_ON(); ; desired = 150; ; ; ; ; while(1) ; { ; ; ; duty_cycle = error * gain; ; 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TIC3_isr:: 0005 .dbfunc TIC3_isr 0005 .dbline 101 ; if (duty_cycle < 0) ; { ; duty_cycle = -1 * duty_cycle; ; CLEAR_BIT(PORTA, 0x20); ; } ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; ; }/*End While*/ ; 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC2_isr:: 0006 .dbfunc TIC2_isr 0006 .dbline 107 ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; ; 0006 L8: 0006 3B rti ; IX -> 0,x 0007 _TIC1_isr:: 0007 .dbfunc TIC1_isr 0007 .dbline 113 ; ; /************************** Function Defintions *************************/ ; ; void init_pulse(void) ; { ; INTR_OFF(); 0007 L9: 0007 3B rti ; IX -> 0,x 0008 _IRQ_isr:: 0008 .dbfunc IRQ_isr 0008 .dbline 125 ; SET_BIT(TCTL1, 0x80); //Enable OC2 for falling edge on first sucessful compare (safe default) ; CLEAR_BIT(TCTL1, 0x40); ; TOC2 = 0; //Set TOC2 to zero ; SET_BIT(TMSK1, 0x40); //Enable OC2 mask ; //INTR_ON(); ; ; printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() ; { //printf("ISR\n"); ; 0008 L10: 0008 3B rti ; IX -> 0,x 0009 _XIRQ_isr:: 0009 .dbfunc XIRQ_isr 0009 .dbline 131 ; ; //enable toggle ; //CLEAR_BIT(TCTL1, 0x80); ; //SET_BIT(TCTL1, 0x40); ; if (duty_cycle <= 100) ; //This handles if duty cycle is less than or equal to 50 e clocks ( almost always off) 0009 L11: 0009 3B rti ; IX -> 0,x 000A _SWI_isr:: 000A .dbfunc SWI_isr 000A .dbline 137 ; { ; SET_BIT(TCTL1, 0x80); //Enable OC2 for falling edge (make sure pin goes low) ; CLEAR_BIT(TCTL1, 0X40); ; TOC2 += period; //Add the period to TOC2 ; } ; 000A L12: 000A 3B rti ; IX -> 0,x 000B _ILLOP_isr:: 000B .dbfunc ILLOP_isr 000B .dbline 143 ; else if ((period - duty_cycle) <= 100) //This handles what to do if the pin should almost always be high ; { ; CLEAR_BIT(TCTL1, 0x80); //Set the pin to rising edge ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } 000B L13: 000B 3B rti ; IX -> 0,x 000C _COP_isr:: 000C .dbfunc COP_isr 000C .dbline 149 ; ; else //This is for the general case ; { ; if (TCTL1 & 0x40) //Test bit 6. If it is a one, you are now high and must change to go low ; { ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt 000C L14: 000C 3B rti ; IX -> 0,x 000D _CLMON_isr:: 000D .dbfunc CLMON_isr 000D .dbline 155 ; SET_BIT(TCTL1, 0X80); ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high ; } ; ; else //if(!(TCTL1 & 0x40)) //Test bit 6. If it is low, you are now low and must change to go high ; { 000D L15: 000D 3B rti .area data 0000 _drew:: 0000 .blkw 1 .area idata 0000 0000 .word _interrupt_vectors .area data 0002 _error:: 0002 .blkb 2 .area idata 0002 0000 .word 0 .area data 0004 _desired:: 0004 .blkb 2 .area idata 0004 0096 .word 150 .area data 0006 _count:: 0006 .blkb 4 .area idata 0006 00000000 .word 0,0 .area text 000E L17: 000E 1B5B324A0400 .byte 27,91,50,'J,4,0 0014 L18: 0014 1B5B313B314800 .byte 27,91,49,59,49,'H,0 ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x ; place -> 5,x ; clear -> 12,x 001B _main:: 001B BD0000 jsr __enterb 001E 92 .byte 0x92 001F .dbfile valve4.c 001F .dbfunc main 001F .dbline 53 001F EC00 ldd 0,x 0021 C3000C addd #12 0024 18CE000E ldy #L17 0028 3C pshx 0029 8F xgdx 002A CC0006 ldd #6 002D BD0000 jsr __asgnblk 0030 38 pulx 0031 .dbline 56 0031 EC00 ldd 0,x 0033 C30005 addd #5 0036 18CE0014 ldy #L18 003A 3C pshx 003B 8F xgdx 003C CC0007 ldd #7 003F BD0000 jsr __asgnblk 0042 38 pulx 0043 .dbline 58 0043 18CE1026 ldy #0x1026 0047 181C0080 bset 0,y,#128 004B .dbline 59 004B 18CE1026 ldy #0x1026 004F 181D0003 bclr 0,y,#0x3 0053 .dbline 60 0053 18CE1024 ldy #0x1024 0057 181C0040 bset 0,y,#64 005B .dbline 62 005B BD00FE jsr _init_pulse 005E .dbline 63 005E BD0000 jsr _init_analog 0061 .dbline 64 0061 BD0000 jsr _init_serial 0064 .dbline 69 0064 CC0366 ldd #L19 0067 BD0000 jsr _printf 006A .dbline 74 006A CC033E ldd #L20 006D BD0000 jsr _printf 0070 .dbline 75 0070 CC0317 ldd #L21 0073 BD0000 jsr _printf 0076 .dbline 76 0076 BD0000 jsr _read_int 0079 ED02 std 2,x 007B CC03E8 ldd #1000 007E 1AEE02 ldy 2,x 0081 BD0000 jsr __muli 0084 BD0000 jsr __d2lreg 0087 18CE0002 ldy #_period 008B BD0000 jsr __lreg2y 008E .dbline 77 008E CC0307 ldd #L22 0091 BD0000 jsr _printf 0094 .dbline 78 0094 BD0000 jsr _read_int 0097 FD0000 std _gain 009A 0E cli 009B .dbline 80 009B CC0096 ldd #150 009E FD0004 std _desired 00A1 2051 bra L24 00A3 L23: 00A3 .dbline 88 00A3 FC0002 ldd _error 00A6 18FE0000 ldy _gain 00AA BD0000 jsr __muli 00AD BD0000 jsr __d2lreg 00B0 18CE0006 ldy #_duty_cycle 00B4 BD0000 jsr __lreg2y 00B7 .dbline 90 00B7 18CE0006 ldy #_duty_cycle 00BB BD0000 jsr __ly2reg 00BE 18CE0303 ldy #L28 00C2 BD0000 jsr __ly2reg2 00C5 BD0000 jsr __lcmp 00C8 2C22 bge L26 00CA .dbline 92 00CA 18CE02FF ldy #L29 00CE BD0000 jsr __ly2reg 00D1 18CE0006 ldy #_duty_cycle 00D5 BD0000 jsr __ly2reg2 00D8 BD0000 jsr __lmul 00DB 18CE0006 ldy #_duty_cycle 00DF BD0000 jsr __lreg2y 00E2 .dbline 93 00E2 18CE1000 ldy #0x1000 00E6 181D0020 bclr 0,y,#0x20 00EA .dbline 94 00EA 2008 bra L27 00EC L26: 00EC .dbline 97 00EC 18CE1000 ldy #0x1000 00F0 181C0020 bset 0,y,#32 00F4 .dbline 98 00F4 L27: 00F4 .dbline 100 00F4 L24: 00F4 .dbline 84 00F4 20AD bra L23 00F6 L16: 00F6 8F xgdx 00F7 C30012 addd #18 00FA 8F xgdx 00FB 35 txs 00FC 38 pulx 00FD 39 rts ; IX -> 0,x 00FE _init_pulse:: 00FE 0F sei 00FF .dbfunc init_pulse 00FF .dbline 114 00FF 18CE1020 ldy #0x1020 0103 181C0080 bset 0,y,#128 0107 .dbline 115 0107 18CE1020 ldy #0x1020 010B 181D0040 bclr 0,y,#0x40 010F .dbline 116 010F CC0000 ldd #0 0112 FD1018 std 0x1018 0115 .dbline 117 0115 18CE1022 ldy #0x1022 0119 181C0040 bset 0,y,#64 011D .dbline 120 011D CC02EB ldd #L31 0120 BD0000 jsr _printf 0123 .dbline 121 0123 L30: 0123 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 0124 _TOC2_isr:: 0124 BD0000 jsr __enterb 0127 82 .byte 0x82 0128 .dbfunc TOC2_isr 0128 .dbline 130 0128 18CE0006 ldy #_duty_cycle 012C BD0000 jsr __ly2reg 012F 18CE02E7 ldy #L35 0133 BD0000 jsr __ly2reg2 0136 BD0000 jsr __lcmp 0139 2E29 bgt L33 013B .dbline 133 013B 18CE1020 ldy #0x1020 013F 181C0080 bset 0,y,#128 0143 .dbline 134 0143 18CE1020 ldy #0x1020 0147 181D0040 bclr 0,y,#0x40 014B .dbline 135 014B 18CE0002 ldy #_period 014F BD0000 jsr __ly2reg2 ; vol 0152 FC1018 ldd 0x1018 0155 BD0000 jsr __ud2lreg 0158 BD0000 jsr __ladd 015B BD0000 jsr __lreg2d 015E FD1018 std 0x1018 0161 .dbline 136 0161 7E0205 jmp L34 0164 L33: 0164 .dbline 138 0164 18CE0002 ldy #_period 0168 BD0000 jsr __ly2reg 016B 18CE0006 ldy #_duty_cycle 016F BD0000 jsr __ly2reg2 0172 BD0000 jsr __lsub 0175 18CE02E7 ldy #L35 0179 BD0000 jsr __ly2reg2 017C BD0000 jsr __lcmp 017F 2E28 bgt L36 0181 .dbline 140 0181 18CE1020 ldy #0x1020 0185 181D0080 bclr 0,y,#0x80 0189 .dbline 141 0189 18CE1020 ldy #0x1020 018D 181C0040 bset 0,y,#64 0191 .dbline 142 0191 18CE0002 ldy #_period 0195 BD0000 jsr __ly2reg2 ; vol 0198 FC1018 ldd 0x1018 019B BD0000 jsr __ud2lreg 019E BD0000 jsr __ladd 01A1 BD0000 jsr __lreg2d 01A4 FD1018 std 0x1018 01A7 .dbline 143 01A7 205C bra L37 01A9 L36: 01A9 .dbline 147 01A9 18CE1020 ldy #0x1020 01AD 181F004028 brclr 0,y,#64,L38 01B2 .dbline 149 01B2 18CE1020 ldy #0x1020 01B6 181D0040 bclr 0,y,#0x40 01BA .dbline 150 01BA 18CE1020 ldy #0x1020 01BE 181C0080 bset 0,y,#128 01C2 .dbline 151 01C2 18CE0006 ldy #_duty_cycle 01C6 BD0000 jsr __ly2reg2 ; vol 01C9 FC1018 ldd 0x1018 01CC BD0000 jsr __ud2lreg 01CF BD0000 jsr __ladd 01D2 BD0000 jsr __lreg2d 01D5 FD1018 std 0x1018 01D8 .dbline 152 01D8 202B bra L39 01DA L38: 01DA .dbline 156 ; SET_BIT(TCTL1, 0xC0); //Set bit 6 to go high next interrupt 01DA 18CE1020 ldy #0x1020 01DE 181C00C0 bset 0,y,#192 01E2 .dbline 157 ; TOC2 += (period - duty_cycle); 01E2 18CE0002 ldy #_period 01E6 BD0000 jsr __ly2reg 01E9 18CE0006 ldy #_duty_cycle 01ED BD0000 jsr __ly2reg2 01F0 BD0000 jsr __lsub 01F3 BD0000 jsr __lregmov ; vol 01F6 FC1018 ldd 0x1018 01F9 BD0000 jsr __ud2lreg 01FC BD0000 jsr __ladd 01FF BD0000 jsr __lreg2d 0202 FD1018 std 0x1018 0205 .dbline 158 ; } 0205 L39: 0205 .dbline 159 ; } 0205 L37: 0205 L34: 0205 .dbline 162 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 0205 18CE1023 ldy #0x1023 0209 181D00BF bclr 0,y,#0xbf 020D .dbline 163 ; } //This is the end of the interrupt routine 020D L32: 020D 08 inx 020E 08 inx 020F 35 txs 0210 38 pulx 0211 3B rti ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x 0212 _RTI_isr:: 0212 BD0000 jsr __enterb 0215 84 .byte 0x84 0216 .dbfunc RTI_isr 0216 .dbline 167 ; ; void RTI_isr(void) ; { ; printf("Actual: %d", valve_sensor); 0216 CC0001 ldd #1 0219 BD0000 jsr _analog 021C 37 pshb 021D 36 psha 021E CC02DB ldd #L41 0221 BD0000 jsr _printf 0224 1838 puly 0226 .dbline 168 ; printf(" Setpoint: %d\n", desired); 0226 FC0004 ldd _desired 0229 37 pshb 022A 36 psha 022B CC02BC ldd #L42 022E BD0000 jsr _printf 0231 1838 puly 0233 .dbline 169 ; error = desired - valve_sensor; 0233 CC0001 ldd #1 0236 BD0000 jsr _analog 0239 ED02 std 2,x 023B FC0004 ldd _desired 023E A302 subd 2,x 0240 FD0002 std _error 0243 .dbline 170 ; count = count + 1; 0243 18CE0006 ldy #_count 0247 BD0000 jsr __ly2reg 024A 18CE02B8 ldy #L43 024E BD0000 jsr __ly2reg2 0251 BD0000 jsr __ladd 0254 18CE0006 ldy #_count 0258 BD0000 jsr __lreg2y 025B .dbline 171 ; if (count >=500) 025B 18CE0006 ldy #_count 025F BD0000 jsr __ly2reg 0262 18CE02B4 ldy #L46 0266 BD0000 jsr __ly2reg2 0269 BD0000 jsr __lcmp 026C 2D2E blt L44 026E .dbline 173 ; { ; count = 0; 026E 18CE0303 ldy #L28 0272 BD0000 jsr __ly2reg 0275 18CE0006 ldy #_count 0279 BD0000 jsr __lreg2y 027C .dbline 174 ; if (desired == 150) 027C FC0004 ldd _desired 027F 1A830096 cpd #150 0283 2608 bne L47 0285 .dbline 176 ; { ; desired = 100; 0285 CC0064 ldd #100 0288 FD0004 std _desired 028B .dbline 177 ; } 028B 200F bra L48 028D L47: 028D .dbline 179 ; ; else if (desired == 100) 028D FC0004 ldd _desired 0290 1A830064 cpd #100 0294 2606 bne L49 0296 .dbline 181 ; { ; desired = 150; 0296 CC0096 ldd #150 0299 FD0004 std _desired 029C .dbline 182 ; } 029C L49: 029C L48: 029C .dbline 183 ; } 029C L44: 029C .dbline 184 ; CLEAR_FLAG(TFLG2, 0x40); 029C 18CE1025 ldy #0x1025 02A0 181D00BF bclr 0,y,#0xbf 02A4 .dbline 185 ; } 02A4 L40: 02A4 08 inx 02A5 08 inx 02A6 08 inx 02A7 08 inx 02A8 35 txs 02A9 38 pulx 02AA 3B rti ; IX -> 0,x 02AB _TOF_isr:: 02AB .dbfunc TOF_isr 02AB .dbline 192 ; ; void TOF_isr(void) ; { ; ; ; ; CLEAR_FLAG(TFLG1, 0x80); 02AB 18CE1023 ldy #0x1023 02AF 181D007F bclr 0,y,#0x7f 02B3 .dbline 193 ; } 02B3 L51: 02B3 3B rti .area bss 0000 _gain:: 0000 .blkb 2 0002 _period:: 0002 .blkb 4 0006 _duty_cycle:: 0006 .blkb 4 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 02B4 L46: 02B4 000001F4 .word 0,500 02B8 L43: 02B8 00000001 .word 0,1 02BC L42: 02BC 20202020202020202020202020202020 .byte 32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32 02CC 536574706F696E743A202025640A00 .byte 'S,'e,'t,'p,'o,'i,'n,'t,58,32,32,37,'d,10,0 02DB L41: 02DB 41637475616C3A2020256400 .byte 'A,'c,'t,'u,'a,'l,58,32,32,37,'d,0 02E7 L35: 02E7 00000064 .word 0,100 02EB L31: 02EB 456E64206F6620496E69742070756C73 .byte 'E,'n,'d,32,'o,'f,32,'I,'n,'i,'t,32,'p,'u,'l,'s 02FB 650A0A00 .byte 'e,10,10,0 02FF L29: 02FF FFFFFFFF .word 65535,65535 0303 L28: 0303 00000000 .word 0,0 0307 L22: 0307 456E74657220746865206761696E0A00 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'g,'a,'i,'n,10,0 0317 L21: 0317 456E7465722074686520646573697265 .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'s,'i,'r,'e 0327 6420706572696F6420696E206520636C .byte 'd,32,'p,'e,'r,'i,'o,'d,32,'i,'n,32,'e,32,'c,'l 0337 6F636B733A0A00 .byte 'o,'c,'k,'s,58,10,0 033E L20: 033E 504E45554D415449432043594C494E44 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D 034E 455220444941474E4F53544943205052 .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R 035E 4F4752414D0A0A00 .byte 'O,'G,'R,'A,'M,10,10,0 0366 L19: 0366 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 0376 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 0386 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 0396 653A090946656272756172792C203230 .byte 'e,58,9,9,'F,'e,'b,'r,'u,'a,'r,'y,44,32,50,48 03A6 30300A0956657273696F6E0909310A0A .byte 48,48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10 03B6 00 .byte 0