.module valve4.c .dbfile valve4.c .area text ; IX -> 0,x _SCI_isr:: .dbfile C:\ICCTJP\include/isrdecl.h .dbfunc SCI_isr .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 ***********************/ ; ; L2: rti ; IX -> 0,x _SPI_isr:: .dbfunc SPI_isr .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 *********************/ ; ; L3: rti ; IX -> 0,x _PAIE_isr:: .dbfunc PAIE_isr .dbline 53 ; /**************************** Main **************************************/ ; ; void main(void) ; { ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; L4: rti ; IX -> 0,x _PAV_isr:: .dbfunc PAV_isr .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 L5: rti ; IX -> 0,x _TOC3_isr:: .dbfunc TOC3_isr .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; ; L6: rti ; IX -> 0,x _TIC3_isr:: .dbfunc TIC3_isr .dbline 101 ; if (duty_cycle < 0) ; { ; duty_cycle = -1 * duty_cycle; ; CLEAR_BIT(PORTA, 0x20); ; } ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; ; }/*End While*/ ; L7: rti ; IX -> 0,x _TIC2_isr:: .dbfunc TIC2_isr .dbline 107 ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; ; L8: rti ; IX -> 0,x _TIC1_isr:: .dbfunc TIC1_isr .dbline 113 ; ; /************************** Function Defintions *************************/ ; ; void init_pulse(void) ; { ; INTR_OFF(); L9: rti ; IX -> 0,x _IRQ_isr:: .dbfunc IRQ_isr .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"); ; L10: rti ; IX -> 0,x _XIRQ_isr:: .dbfunc XIRQ_isr .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) L11: rti ; IX -> 0,x _SWI_isr:: .dbfunc SWI_isr .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 ; } ; L12: rti ; IX -> 0,x _ILLOP_isr:: .dbfunc ILLOP_isr .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 ; } L13: rti ; IX -> 0,x _COP_isr:: .dbfunc COP_isr .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 L14: rti ; IX -> 0,x _CLMON_isr:: .dbfunc CLMON_isr .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 ; { L15: rti .area data _drew:: .blkw 1 .area idata .word _interrupt_vectors .area data _error:: .blkb 2 .area idata .word 0 .area data _desired:: .blkb 2 .area idata .word 150 .area data _count:: .blkb 4 .area idata .word 0,0 .area text L17: .byte 27,91,50,'J,4,0 L18: .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 _main:: jsr __enterb .byte 0x92 .dbfile valve4.c .dbfunc main .dbline 53 ldd 0,x addd #12 ldy #L17 pshx xgdx ldd #6 jsr __asgnblk pulx .dbline 56 ldd 0,x addd #5 ldy #L18 pshx xgdx ldd #7 jsr __asgnblk pulx .dbline 58 ldy #0x1026 bset 0,y,#128 .dbline 59 ldy #0x1026 bclr 0,y,#0x3 .dbline 60 ldy #0x1024 bset 0,y,#64 .dbline 62 jsr _init_pulse .dbline 63 jsr _init_analog .dbline 64 jsr _init_serial .dbline 69 ldd #L19 jsr _printf .dbline 74 ldd #L20 jsr _printf .dbline 75 ldd #L21 jsr _printf .dbline 76 jsr _read_int std 2,x ldd #1000 ldy 2,x jsr __muli jsr __d2lreg ldy #_period jsr __lreg2y .dbline 77 ldd #L22 jsr _printf .dbline 78 jsr _read_int std _gain cli .dbline 80 ldd #150 std _desired bra L24 L23: .dbline 88 ldd _error ldy _gain jsr __muli jsr __d2lreg ldy #_duty_cycle jsr __lreg2y .dbline 90 ldy #_duty_cycle jsr __ly2reg ldy #L28 jsr __ly2reg2 jsr __lcmp bge L26 .dbline 92 ldy #L29 jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lmul ldy #_duty_cycle jsr __lreg2y .dbline 93 ldy #0x1000 bclr 0,y,#0x20 .dbline 94 bra L27 L26: .dbline 97 ldy #0x1000 bset 0,y,#32 .dbline 98 L27: .dbline 100 L24: .dbline 84 bra L23 L16: xgdx addd #18 xgdx txs pulx rts ; IX -> 0,x _init_pulse:: sei .dbfunc init_pulse .dbline 114 ldy #0x1020 bset 0,y,#128 .dbline 115 ldy #0x1020 bclr 0,y,#0x40 .dbline 116 ldd #0 std 0x1018 .dbline 117 ldy #0x1022 bset 0,y,#64 .dbline 120 ldd #L31 jsr _printf .dbline 121 L30: rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x _TOC2_isr:: jsr __enterb .byte 0x82 .dbfunc TOC2_isr .dbline 130 ldy #_duty_cycle jsr __ly2reg ldy #L35 jsr __ly2reg2 jsr __lcmp bgt L33 .dbline 133 ldy #0x1020 bset 0,y,#128 .dbline 134 ldy #0x1020 bclr 0,y,#0x40 .dbline 135 ldy #_period jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 136 jmp L34 L33: .dbline 138 ldy #_period jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lsub ldy #L35 jsr __ly2reg2 jsr __lcmp bgt L36 .dbline 140 ldy #0x1020 bclr 0,y,#0x80 .dbline 141 ldy #0x1020 bset 0,y,#64 .dbline 142 ldy #_period jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 143 bra L37 L36: .dbline 147 ldy #0x1020 brclr 0,y,#64,L38 .dbline 149 ldy #0x1020 bclr 0,y,#0x40 .dbline 150 ldy #0x1020 bset 0,y,#128 .dbline 151 ldy #_duty_cycle jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 152 bra L39 L38: .dbline 156 ; SET_BIT(TCTL1, 0xC0); //Set bit 6 to go high next interrupt ldy #0x1020 bset 0,y,#192 .dbline 157 ; TOC2 += (period - duty_cycle); ldy #_period jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lsub jsr __lregmov ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 158 ; } L39: .dbline 159 ; } L37: L34: .dbline 162 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag ldy #0x1023 bclr 0,y,#0xbf .dbline 163 ; } //This is the end of the interrupt routine L32: inx inx txs pulx rti ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 4,x _RTI_isr:: jsr __enterb .byte 0x84 .dbfunc RTI_isr .dbline 167 ; ; void RTI_isr(void) ; { ; printf("Actual: %d", valve_sensor); ldd #1 jsr _analog pshb psha ldd #L41 jsr _printf puly .dbline 168 ; printf(" Setpoint: %d\n", desired); ldd _desired pshb psha ldd #L42 jsr _printf puly .dbline 169 ; error = desired - valve_sensor; ldd #1 jsr _analog std 2,x ldd _desired subd 2,x std _error .dbline 170 ; count = count + 1; ldy #_count jsr __ly2reg ldy #L43 jsr __ly2reg2 jsr __ladd ldy #_count jsr __lreg2y .dbline 171 ; if (count >=500) ldy #_count jsr __ly2reg ldy #L46 jsr __ly2reg2 jsr __lcmp blt L44 .dbline 173 ; { ; count = 0; ldy #L28 jsr __ly2reg ldy #_count jsr __lreg2y .dbline 174 ; if (desired == 150) ldd _desired cpd #150 bne L47 .dbline 176 ; { ; desired = 100; ldd #100 std _desired .dbline 177 ; } bra L48 L47: .dbline 179 ; ; else if (desired == 100) ldd _desired cpd #100 bne L49 .dbline 181 ; { ; desired = 150; ldd #150 std _desired .dbline 182 ; } L49: L48: .dbline 183 ; } L44: .dbline 184 ; CLEAR_FLAG(TFLG2, 0x40); ldy #0x1025 bclr 0,y,#0xbf .dbline 185 ; } L40: inx inx inx inx txs pulx rti ; IX -> 0,x _TOF_isr:: .dbfunc TOF_isr .dbline 192 ; ; void TOF_isr(void) ; { ; ; ; ; CLEAR_FLAG(TFLG1, 0x80); ldy #0x1023 bclr 0,y,#0x7f .dbline 193 ; } L51: rti .area bss _gain:: .blkb 2 _period:: .blkb 4 _duty_cycle:: .blkb 4 _timertjp:: .blkb 2 _days:: .blkb 2 _hours:: .blkb 2 _minutes:: .blkb 2 _seconds:: .blkb 2 _msec:: .blkb 2 .area text L46: .word 0,500 L43: .word 0,1 L42: .byte 32,32,32,32,32,32,32,32,32,32,32,32,32,32,32,32 .byte 'S,'e,'t,'p,'o,'i,'n,'t,58,32,32,37,'d,10,0 L41: .byte 'A,'c,'t,'u,'a,'l,58,32,32,37,'d,0 L35: .word 0,100 L31: .byte 'E,'n,'d,32,'o,'f,32,'I,'n,'i,'t,32,'p,'u,'l,'s .byte 'e,10,10,0 L29: .word 65535,65535 L28: .word 0,0 L22: .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'g,'a,'i,'n,10,0 L21: .byte 'E,'n,'t,'e,'r,32,'t,'h,'e,32,'d,'e,'s,'i,'r,'e .byte 'd,32,'p,'e,'r,'i,'o,'d,32,'i,'n,32,'e,32,'c,'l .byte 'o,'c,'k,'s,58,10,0 L20: .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 L19: .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,'F,'e,'b,'r,'u,'a,'r,'y,44,32,50,48 .byte 48,48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10 .byte 0