.module valve4.c --- 0000 .dbfile valve4.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .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 ***********************/ ; ; 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .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 *********************/ ; ; 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .dbline 53 ; /**************************** Main **************************************/ ; ; 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); ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOC3_isr:: 9817 .dbfunc TOC3_isr 9817 .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; ; 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TIC3_isr:: 9818 .dbfunc TIC3_isr 9818 .dbline 101 ; if (duty_cycle < 0) ; { ; duty_cycle = -1 * duty_cycle; ; CLEAR_BIT(PORTA, 0x20); ; } ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; ; }/*End While*/ ; 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC2_isr:: 9819 .dbfunc TIC2_isr 9819 .dbline 107 ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; ; 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC1_isr:: 981A .dbfunc TIC1_isr 981A .dbline 113 ; ; /************************** Function Defintions *************************/ ; ; void init_pulse(void) ; { ; INTR_OFF(); 981A L9: 981A 3B rti ; IX -> 0,x 981B _IRQ_isr:: 981B .dbfunc IRQ_isr 981B .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"); ; 981B L10: 981B 3B rti ; IX -> 0,x 981C _XIRQ_isr:: 981C .dbfunc XIRQ_isr 981C .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) 981C L11: 981C 3B rti ; IX -> 0,x 981D _SWI_isr:: 981D .dbfunc SWI_isr 981D .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 ; } ; 981D L12: 981D 3B rti ; IX -> 0,x 981E _ILLOP_isr:: 981E .dbfunc ILLOP_isr 981E .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 ; } 981E L13: 981E 3B rti ; IX -> 0,x 981F _COP_isr:: 981F .dbfunc COP_isr 981F .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 981F L14: 981F 3B rti ; IX -> 0,x 9820 _CLMON_isr:: 9820 .dbfunc CLMON_isr 9820 .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 ; { 9820 L15: 9820 3B rti .area data 9BD4 _drew:: 9BD4 .blkw 1 .area idata --- 0000 0000 .word _interrupt_vectors .area data 9BD6 _error:: 9BD6 .blkb 2 .area idata --- 0002 0000 .word 0 .area data 9BD8 _desired:: 9BD8 .blkb 2 .area idata --- 0004 0096 .word 150 .area data 9BDA _count:: 9BDA .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 982E _main:: 982E BD86BA jsr __enterb 9831 92 .byte 0x92 9832 .dbfile valve4.c 9832 .dbfunc main 9832 .dbline 53 9832 EC00 ldd 0,x 9834 C3000C addd #12 9837 18CE9821 ldy #L17 983B 3C pshx 983C 8F xgdx 983D CC0006 ldd #6 9840 BD86A2 jsr __asgnblk 9843 38 pulx 9844 .dbline 56 9844 EC00 ldd 0,x 9846 C30005 addd #5 9849 18CE9827 ldy #L18 984D 3C pshx 984E 8F xgdx 984F CC0007 ldd #7 9852 BD86A2 jsr __asgnblk 9855 38 pulx 9856 .dbline 58 9856 18CE1026 ldy #0x1026 985A 181C0080 bset 0,y,#128 985E .dbline 59 985E 18CE1026 ldy #0x1026 9862 181D0003 bclr 0,y,#0x3 9866 .dbline 60 9866 18CE1024 ldy #0x1024 986A 181C0040 bset 0,y,#64 986E .dbline 62 986E BD9911 jsr _init_pulse 9871 .dbline 63 9871 BD813B jsr _init_analog 9874 .dbline 64 9874 BD8381 jsr _init_serial 9877 .dbline 69 9877 CC9B79 ldd #L19 987A BD9442 jsr _printf 987D .dbline 74 987D CC9B51 ldd #L20 9880 BD9442 jsr _printf 9883 .dbline 75 9883 CC9B2A ldd #L21 9886 BD9442 jsr _printf 9889 .dbline 76 9889 BD856F jsr _read_int 988C ED02 std 2,x 988E CC03E8 ldd #1000 9891 1AEE02 ldy 2,x 9894 BD8669 jsr __muli 9897 BD8987 jsr __d2lreg 989A 18CE9BF7 ldy #_period 989E BD8935 jsr __lreg2y 98A1 .dbline 77 98A1 CC9B1A ldd #L22 98A4 BD9442 jsr _printf 98A7 .dbline 78 98A7 BD856F jsr _read_int 98AA FD9BF5 std _gain 98AD 0E cli 98AE .dbline 80 98AE CC0096 ldd #150 98B1 FD9BD8 std _desired 98B4 2051 bra L24 98B6 L23: 98B6 .dbline 88 98B6 FC9BD6 ldd _error 98B9 18FE9BF5 ldy _gain 98BD BD8669 jsr __muli 98C0 BD8987 jsr __d2lreg 98C3 18CE9BFB ldy #_duty_cycle 98C7 BD8935 jsr __lreg2y 98CA .dbline 90 98CA 18CE9BFB ldy #_duty_cycle 98CE BD88F8 jsr __ly2reg 98D1 18CE9B16 ldy #L28 98D5 BD891E jsr __ly2reg2 98D8 BD8D86 jsr __lcmp 98DB 2C22 bge L26 98DD .dbline 92 98DD 18CE9B12 ldy #L29 98E1 BD88F8 jsr __ly2reg 98E4 18CE9BFB ldy #_duty_cycle 98E8 BD891E jsr __ly2reg2 98EB BD8ACD jsr __lmul 98EE 18CE9BFB ldy #_duty_cycle 98F2 BD8935 jsr __lreg2y 98F5 .dbline 93 98F5 18CE1000 ldy #0x1000 98F9 181D0020 bclr 0,y,#0x20 98FD .dbline 94 98FD 2008 bra L27 98FF L26: 98FF .dbline 97 98FF 18CE1000 ldy #0x1000 9903 181C0020 bset 0,y,#32 9907 .dbline 98 9907 L27: 9907 .dbline 100 9907 L24: 9907 .dbline 84 9907 20AD bra L23 9909 L16: 9909 8F xgdx 990A C30012 addd #18 990D 8F xgdx 990E 35 txs 990F 38 pulx 9910 39 rts ; IX -> 0,x 9911 _init_pulse:: 9911 0F sei 9912 .dbfunc init_pulse 9912 .dbline 114 9912 18CE1020 ldy #0x1020 9916 181C0080 bset 0,y,#128 991A .dbline 115 991A 18CE1020 ldy #0x1020 991E 181D0040 bclr 0,y,#0x40 9922 .dbline 116 9922 CC0000 ldd #0 9925 FD1018 std 0x1018 9928 .dbline 117 9928 18CE1022 ldy #0x1022 992C 181C0040 bset 0,y,#64 9930 .dbline 120 9930 CC9AFE ldd #L31 9933 BD9442 jsr _printf 9936 .dbline 121 9936 L30: 9936 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 9937 _TOC2_isr:: 9937 BD86BA jsr __enterb 993A 82 .byte 0x82 993B .dbfunc TOC2_isr 993B .dbline 130 993B 18CE9BFB ldy #_duty_cycle 993F BD88F8 jsr __ly2reg 9942 18CE9AFA ldy #L35 9946 BD891E jsr __ly2reg2 9949 BD8D86 jsr __lcmp 994C 2E29 bgt L33 994E .dbline 133 994E 18CE1020 ldy #0x1020 9952 181C0080 bset 0,y,#128 9956 .dbline 134 9956 18CE1020 ldy #0x1020 995A 181D0040 bclr 0,y,#0x40 995E .dbline 135 995E 18CE9BF7 ldy #_period 9962 BD891E jsr __ly2reg2 ; vol 9965 FC1018 ldd 0x1018 9968 BD89B9 jsr __ud2lreg 996B BD8A84 jsr __ladd 996E BD89DF jsr __lreg2d 9971 FD1018 std 0x1018 9974 .dbline 136 9974 7E9A18 jmp L34 9977 L33: 9977 .dbline 138 9977 18CE9BF7 ldy #_period 997B BD88F8 jsr __ly2reg 997E 18CE9BFB ldy #_duty_cycle 9982 BD891E jsr __ly2reg2 9985 BD8A9F jsr __lsub 9988 18CE9AFA ldy #L35 998C BD891E jsr __ly2reg2 998F BD8D86 jsr __lcmp 9992 2E28 bgt L36 9994 .dbline 140 9994 18CE1020 ldy #0x1020 9998 181D0080 bclr 0,y,#0x80 999C .dbline 141 999C 18CE1020 ldy #0x1020 99A0 181C0040 bset 0,y,#64 99A4 .dbline 142 99A4 18CE9BF7 ldy #_period 99A8 BD891E jsr __ly2reg2 ; vol 99AB FC1018 ldd 0x1018 99AE BD89B9 jsr __ud2lreg 99B1 BD8A84 jsr __ladd 99B4 BD89DF jsr __lreg2d 99B7 FD1018 std 0x1018 99BA .dbline 143 99BA 205C bra L37 99BC L36: 99BC .dbline 147 99BC 18CE1020 ldy #0x1020 99C0 181F004028 brclr 0,y,#64,L38 99C5 .dbline 149 99C5 18CE1020 ldy #0x1020 99C9 181D0040 bclr 0,y,#0x40 99CD .dbline 150 99CD 18CE1020 ldy #0x1020 99D1 181C0080 bset 0,y,#128 99D5 .dbline 151 99D5 18CE9BFB ldy #_duty_cycle 99D9 BD891E jsr __ly2reg2 ; vol 99DC FC1018 ldd 0x1018 99DF BD89B9 jsr __ud2lreg 99E2 BD8A84 jsr __ladd 99E5 BD89DF jsr __lreg2d 99E8 FD1018 std 0x1018 99EB .dbline 152 99EB 202B bra L39 99ED L38: 99ED .dbline 156 ; SET_BIT(TCTL1, 0xC0); //Set bit 6 to go high next interrupt 99ED 18CE1020 ldy #0x1020 99F1 181C00C0 bset 0,y,#192 99F5 .dbline 157 ; TOC2 += (period - duty_cycle); 99F5 18CE9BF7 ldy #_period 99F9 BD88F8 jsr __ly2reg 99FC 18CE9BFB ldy #_duty_cycle 9A00 BD891E jsr __ly2reg2 9A03 BD8A9F jsr __lsub 9A06 BD8972 jsr __lregmov ; vol 9A09 FC1018 ldd 0x1018 9A0C BD89B9 jsr __ud2lreg 9A0F BD8A84 jsr __ladd 9A12 BD89DF jsr __lreg2d 9A15 FD1018 std 0x1018 9A18 .dbline 158 ; } 9A18 L39: 9A18 .dbline 159 ; } 9A18 L37: 9A18 L34: 9A18 .dbline 162 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 9A18 18CE1023 ldy #0x1023 9A1C 181D00BF bclr 0,y,#0xbf 9A20 .dbline 163 ; } //This is the end of the interrupt routine 9A20 L32: 9A20 08 inx 9A21 08 inx 9A22 35 txs 9A23 38 pulx 9A24 3B rti ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x 9A25 _RTI_isr:: 9A25 BD86BA jsr __enterb 9A28 84 .byte 0x84 9A29 .dbfunc RTI_isr 9A29 .dbline 167 ; ; void RTI_isr(void) ; { ; printf("Actual: %d", valve_sensor); 9A29 CC0001 ldd #1 9A2C BD8144 jsr _analog 9A2F 37 pshb 9A30 36 psha 9A31 CC9AEE ldd #L41 9A34 BD9442 jsr _printf 9A37 1838 puly 9A39 .dbline 168 ; printf(" Setpoint: %d\n", desired); 9A39 FC9BD8 ldd _desired 9A3C 37 pshb 9A3D 36 psha 9A3E CC9ACF ldd #L42 9A41 BD9442 jsr _printf 9A44 1838 puly 9A46 .dbline 169 ; error = desired - valve_sensor; 9A46 CC0001 ldd #1 9A49 BD8144 jsr _analog 9A4C ED02 std 2,x 9A4E FC9BD8 ldd _desired 9A51 A302 subd 2,x 9A53 FD9BD6 std _error 9A56 .dbline 170 ; count = count + 1; 9A56 18CE9BDA ldy #_count 9A5A BD88F8 jsr __ly2reg 9A5D 18CE9ACB ldy #L43 9A61 BD891E jsr __ly2reg2 9A64 BD8A84 jsr __ladd 9A67 18CE9BDA ldy #_count 9A6B BD8935 jsr __lreg2y 9A6E .dbline 171 ; if (count >=500) 9A6E 18CE9BDA ldy #_count 9A72 BD88F8 jsr __ly2reg 9A75 18CE9AC7 ldy #L46 9A79 BD891E jsr __ly2reg2 9A7C BD8D86 jsr __lcmp 9A7F 2D2E blt L44 9A81 .dbline 173 ; { ; count = 0; 9A81 18CE9B16 ldy #L28 9A85 BD88F8 jsr __ly2reg 9A88 18CE9BDA ldy #_count 9A8C BD8935 jsr __lreg2y 9A8F .dbline 174 ; if (desired == 150) 9A8F FC9BD8 ldd _desired 9A92 1A830096 cpd #150 9A96 2608 bne L47 9A98 .dbline 176 ; { ; desired = 100; 9A98 CC0064 ldd #100 9A9B FD9BD8 std _desired 9A9E .dbline 177 ; } 9A9E 200F bra L48 9AA0 L47: 9AA0 .dbline 179 ; ; else if (desired == 100) 9AA0 FC9BD8 ldd _desired 9AA3 1A830064 cpd #100 9AA7 2606 bne L49 9AA9 .dbline 181 ; { ; desired = 150; 9AA9 CC0096 ldd #150 9AAC FD9BD8 std _desired 9AAF .dbline 182 ; } 9AAF L49: 9AAF L48: 9AAF .dbline 183 ; } 9AAF L44: 9AAF .dbline 184 ; CLEAR_FLAG(TFLG2, 0x40); 9AAF 18CE1025 ldy #0x1025 9AB3 181D00BF bclr 0,y,#0xbf 9AB7 .dbline 185 ; } 9AB7 L40: 9AB7 08 inx 9AB8 08 inx 9AB9 08 inx 9ABA 08 inx 9ABB 35 txs 9ABC 38 pulx 9ABD 3B rti ; IX -> 0,x 9ABE _TOF_isr:: 9ABE .dbfunc TOF_isr 9ABE .dbline 192 ; ; void TOF_isr(void) ; { ; ; ; ; CLEAR_FLAG(TFLG1, 0x80); 9ABE 18CE1023 ldy #0x1023 9AC2 181D007F bclr 0,y,#0x7f 9AC6 .dbline 193 ; } 9AC6 L51: 9AC6 3B rti .area bss 9BF5 _gain:: 9BF5 .blkb 2 9BF7 _period:: 9BF7 .blkb 4 9BFB _duty_cycle:: 9BFB .blkb 4 9BFF _timertjp:: 9BFF .blkb 2 9C01 _days:: 9C01 .blkb 2 9C03 _hours:: 9C03 .blkb 2 9C05 _minutes:: 9C05 .blkb 2 9C07 _seconds:: 9C07 .blkb 2 9C09 _msec:: 9C09 .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