.module valve5.c 0000 .dbfile valve5.c .area text ; IX -> 0,x 0000 _SCI_isr:: 0000 .dbfile C:\ICCTJP\include/isrdecl.h 0000 .dbfunc SCI_isr 0000 .dbline 41 ; /************************************************************************************************************************ ; * Program: valve5.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 5 ; #define valve_sensor analog(1) ; #define in 0 ; #define out 1 ; /**************************** End of Constants **************************/ ; ; /*************************** Interrupts *********************************/ ; #pragma interrupt_handler TOC2_isr, TOF_isr, RTI_isr ; /*************************** End of Interrupts **************************/ ; ; /************************** Includes ************************************/ ; #include ; #include ; #include ; #include ; #include ; /************************ End of includes *******************************/ ; ; /************************** Global Variables*****************************/ ; unsigned int duty_cycle; //duty_cycle in e clocks ; unsigned int period; //period in e clocks ; int position; ; /************************ End of Global Variables ***********************/ ; ; ; /************************** Function Declarations **********************/ ; void init_pulse(); //Initilizes TOC for PWM interrupts 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .dbline 47 ; void move(int); ; void pulse_handler(); //This is the function executed at each TOC2_isr ; void move_cylinder(int); ; /******************** 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_home[]= "\x1b[1;1H"; /*Home*/ ; ; char place_text[] = "\x1b[10;1H";/*position for text to be entered*/ ; 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOC3_isr:: 0004 .dbfunc TOC3_isr 0004 .dbline 89 ; int duty_cycle_P; ; int period_ms; ; int desired_position = 150; ; int option; ; ; SET_BIT(PACTL, 0x80); ; init_pulse(); ; init_analog(); ; init_serial(); ; ; printf("%s", clear); ; printf("%s", place_home); ; ; 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"); ; period = 30000; ; duty_cycle = 15000; ; INTR_OFF(); ; while (1){ ; INTR_ON(); ; while (desired_position < valve_sensor){ ; CLEAR_BIT(PORTA, 0x20); ; } ; while (desired_position > valve_sensor) { ; SET_BIT(PORTA, 0x20); ; } 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TIC3_isr:: 0005 .dbfunc TIC3_isr 0005 .dbline 101 ; while ((desired_position <= valve_sensor + TOLERANCE) && (desired_position >= valve_sensor - TOLERANCE)){ ; INTR_OFF(); ; } ; } ; ; } ; ; ; /**************************** End of Main *******************************/ ; ; ; 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC2_isr:: 0006 .dbfunc TIC2_isr 0006 .dbline 107 ; /************************** Function Defintions *************************/ ; ; void move_cylinder(int desired_position) ; { ; int real_position; ; //while (real_position != desired_position) 0006 L8: 0006 3B rti ; IX -> 0,x 0007 _TIC1_isr:: 0007 .dbfunc TIC1_isr 0007 .dbline 113 ; //{ ; real_position = valve_sensor; ; if (real_position > desired_position) ; { ; CLEAR_BIT(PORTA, 0x20); ; } 0007 L9: 0007 3B rti ; IX -> 0,x 0008 _IRQ_isr:: 0008 .dbfunc IRQ_isr 0008 .dbline 125 ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; INTR_ON(); ; //} ; ; INTR_OFF(); ; CLEAR_BIT(PORTA, 0x40); //Set to go low when not interrupting ; } ; ; void init_pulse(void) 0008 L10: 0008 3B rti ; IX -> 0,x 0009 _XIRQ_isr:: 0009 .dbfunc XIRQ_isr 0009 .dbline 131 ; { ; INTR_OFF(); ; 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 0009 L11: 0009 3B rti ; IX -> 0,x 000A _SWI_isr:: 000A .dbfunc SWI_isr 000A .dbline 137 ; //printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() ; { //printf("ISR\n"); ; 000A L12: 000A 3B rti ; IX -> 0,x 000B _ILLOP_isr:: 000B .dbfunc ILLOP_isr 000B .dbline 143 ; //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 100 e clocks ( almost always off) ; { 000B L13: 000B 3B rti ; IX -> 0,x 000C _COP_isr:: 000C .dbfunc COP_isr 000C .dbline 149 ; 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 ; } ; ; else if ((period - duty_cycle) <= 100) //This handles what to do if the pin should almost always be high 000C L14: 000C 3B rti ; IX -> 0,x 000D _CLMON_isr:: 000D .dbfunc CLMON_isr 000D .dbline 155 ; { ; CLEAR_BIT(TCTL1, 0x80); //Set the pin to rising edge ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } ; 000D L15: 000D 3B rti .area data 0000 _drew:: 0000 .blkw 1 .area idata 0000 0000 .word _interrupt_vectors .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 001B L19: 001B 1B5B31303B314800 .byte 27,91,49,48,59,49,'H,0 ; IX -> 0,x ; rMEM -> 2,x ; func temp: 4,x - 8,x ; option -> 9,x ; period_ms -> 11,x ; duty_cycle_P -> 13,x ; place_text -> 15,x ; place_home -> 23,x ; clear -> 30,x ; desired_position -> 36,x 0023 _main:: 0023 BD0000 jsr __enterb 0026 26 .byte 0x26 0027 .dbfile valve5.c 0027 .dbfunc main 0027 .dbline 53 0027 EC00 ldd 0,x 0029 C3001E addd #30 002C 18CE000E ldy #L17 0030 3C pshx 0031 8F xgdx 0032 CC0006 ldd #6 0035 BD0000 jsr __asgnblk 0038 38 pulx 0039 .dbline 56 0039 EC00 ldd 0,x 003B C30017 addd #23 003E 18CE0014 ldy #L18 0042 3C pshx 0043 8F xgdx 0044 CC0007 ldd #7 0047 BD0000 jsr __asgnblk 004A 38 pulx 004B .dbline 58 004B EC00 ldd 0,x 004D C3000F addd #15 0050 18CE001B ldy #L19 0054 3C pshx 0055 8F xgdx 0056 CC0008 ldd #8 0059 BD0000 jsr __asgnblk 005C 38 pulx 005D .dbline 62 005D CC0096 ldd #150 0060 ED24 std 36,x 0062 .dbline 65 0062 18CE1026 ldy #0x1026 0066 181C0080 bset 0,y,#128 006A .dbline 66 006A BD0148 jsr _init_pulse 006D .dbline 67 006D BD0000 jsr _init_analog 0070 .dbline 68 0070 BD0000 jsr _init_serial 0073 .dbline 70 0073 EC00 ldd 0,x 0075 C3001E addd #30 0078 37 pshb 0079 36 psha 007A CC027D ldd #L20 007D BD0000 jsr _printf 0080 1838 puly 0082 .dbline 71 0082 EC00 ldd 0,x 0084 C30017 addd #23 0087 37 pshb 0088 36 psha 0089 CC027D ldd #L20 008C BD0000 jsr _printf 008F 1838 puly 0091 .dbline 73 0091 CC022C ldd #L21 0094 BD0000 jsr _printf 0097 .dbline 78 0097 CC0204 ldd #L22 009A BD0000 jsr _printf 009D .dbline 79 009D CC7530 ldd #30000 00A0 FD0002 std _period 00A3 .dbline 80 00A3 CC3A98 ldd #15000 00A6 FD0004 std _duty_cycle 00A9 0F sei 00AA .dbline 81 00AA 205A bra L24 00AC L23: 00AC 0E cli 00AD .dbline 83 00AD 2008 bra L27 00AF L26: 00AF .dbline 85 00AF 18CE1000 ldy #0x1000 00B3 181D0020 bclr 0,y,#0x20 00B7 .dbline 86 00B7 L27: 00B7 CC0001 ldd #1 00BA BD0000 jsr _analog 00BD ED04 std 4,x 00BF EC24 ldd 36,x 00C1 1AA304 cpd 4,x 00C4 2DE9 blt L26 00C6 2008 bra L30 00C8 L29: 00C8 .dbline 88 00C8 18CE1000 ldy #0x1000 00CC 181C0020 bset 0,y,#32 00D0 .dbline 89 00D0 L30: 00D0 CC0001 ldd #1 00D3 BD0000 jsr _analog 00D6 ED06 std 6,x 00D8 EC24 ldd 36,x 00DA 1AA306 cpd 6,x 00DD 2EE9 bgt L29 00DF 2001 bra L33 00E1 L32: 00E1 0F sei 00E2 .dbline 92 00E2 L33: 00E2 CC0001 ldd #1 00E5 BD0000 jsr _analog 00E8 C30005 addd #5 00EB ED02 std 2,x 00ED EC24 ldd 36,x 00EF 1AA302 cpd 2,x 00F2 2E12 bgt L35 00F4 CC0001 ldd #1 00F7 BD0000 jsr _analog 00FA 830005 subd #5 00FD ED02 std 2,x 00FF EC24 ldd 36,x 0101 1AA302 cpd 2,x 0104 2CDB bge L32 0106 L35: 0106 .dbline 93 0106 L24: 0106 20A4 bra L23 0108 L16: 0108 8F xgdx 0109 C30026 addd #38 010C 8F xgdx 010D 35 txs 010E 38 pulx 010F 39 rts ; IX -> 0,x ; real_position -> 2,x ; desired_position -> 6,x 0110 _move_cylinder:: 0110 BD0000 jsr __enterb 0113 44 .byte 0x44 0114 .dbfunc move_cylinder 0114 .dbline 109 0114 CC0001 ldd #1 0117 BD0000 jsr _analog 011A ED02 std 2,x 011C .dbline 110 011C EC02 ldd 2,x 011E 1AA306 cpd 6,x 0121 2F0A ble L37 0123 .dbline 112 0123 18CE1000 ldy #0x1000 0127 181D0020 bclr 0,y,#0x20 012B .dbline 113 012B 2008 bra L38 012D L37: 012D .dbline 116 012D 18CE1000 ldy #0x1000 0131 181C0020 bset 0,y,#32 0135 .dbline 117 0135 L38: 0135 0E cli 0136 0F sei 0137 .dbline 122 0137 18CE1000 ldy #0x1000 013B 181D0040 bclr 0,y,#0x40 013F .dbline 123 013F L36: 013F 08 inx 0140 08 inx 0141 08 inx 0142 08 inx 0143 35 txs 0144 38 pulx 0145 1838 puly 0147 39 rts ; IX -> 0,x 0148 _init_pulse:: 0148 0F sei 0149 .dbfunc init_pulse 0149 .dbline 128 0149 18CE1020 ldy #0x1020 014D 181C0080 bset 0,y,#128 0151 .dbline 129 0151 18CE1020 ldy #0x1020 0155 181D0040 bclr 0,y,#0x40 0159 .dbline 130 0159 CC0000 ldd #0 015C FD1018 std 0x1018 015F .dbline 131 015F 18CE1022 ldy #0x1022 0163 181C0040 bset 0,y,#64 0167 .dbline 133 0167 L39: 0167 39 rts ; IX -> 0,x ; rMEM -> 2,x 0168 _TOC2_isr:: 0168 BD0000 jsr __enterb 016B 04 .byte 0x4 016C .dbfunc TOC2_isr 016C .dbline 141 016C FC0004 ldd _duty_cycle 016F 1A830064 cpd #100 0173 221B bhi L41 0175 .dbline 144 0175 18CE1020 ldy #0x1020 0179 181C0080 bset 0,y,#128 017D .dbline 145 017D 18CE1020 ldy #0x1020 0181 181D0040 bclr 0,y,#0x40 0185 .dbline 146 ; vol 0185 FC1018 ldd 0x1018 0188 F30002 addd _period 018B FD1018 std 0x1018 018E .dbline 147 018E 2063 bra L42 0190 L41: 0190 .dbline 149 0190 FC0002 ldd _period 0193 B30004 subd _duty_cycle 0196 1A830064 cpd #100 019A 221B bhi L43 019C .dbline 151 019C 18CE1020 ldy #0x1020 01A0 181D0080 bclr 0,y,#0x80 01A4 .dbline 152 01A4 18CE1020 ldy #0x1020 01A8 181C0040 bset 0,y,#64 01AC .dbline 153 ; vol 01AC FC1018 ldd 0x1018 01AF F30002 addd _period 01B2 FD1018 std 0x1018 01B5 .dbline 154 01B5 203C bra L44 01B7 L43: 01B7 .dbline 158 ; 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 01B7 18CE1020 ldy #0x1020 01BB 181F00401B brclr 0,y,#64,L45 01C0 .dbline 160 ; { ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt 01C0 18CE1020 ldy #0x1020 01C4 181D0040 bclr 0,y,#0x40 01C8 .dbline 161 ; SET_BIT(TCTL1, 0X80); 01C8 18CE1020 ldy #0x1020 01CC 181C0080 bset 0,y,#128 01D0 .dbline 162 ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high ; vol 01D0 FC1018 ldd 0x1018 01D3 F30004 addd _duty_cycle 01D6 FD1018 std 0x1018 01D9 .dbline 163 ; } 01D9 2018 bra L46 01DB L45: 01DB .dbline 167 ; ; else //Test bit 6. If it is low, you are now low and must change to go high ; { ; SET_BIT(TCTL1, 0xC0); //Set bit 6 to go high next interrupt 01DB 18CE1020 ldy #0x1020 01DF 181C00C0 bset 0,y,#192 01E3 .dbline 168 ; TOC2 += (period - duty_cycle); 01E3 FC0002 ldd _period 01E6 B30004 subd _duty_cycle 01E9 ED02 std 2,x ; vol 01EB FC1018 ldd 0x1018 01EE E302 addd 2,x 01F0 FD1018 std 0x1018 01F3 .dbline 169 ; } 01F3 L46: 01F3 .dbline 170 ; } 01F3 L44: 01F3 L42: 01F3 .dbline 173 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 01F3 18CE1023 ldy #0x1023 01F7 181D00BF bclr 0,y,#0xbf 01FB .dbline 174 ; } //This is the end of the interrupt routine 01FB L40: 01FB 08 inx 01FC 08 inx 01FD 08 inx 01FE 08 inx 01FF 35 txs 0200 38 pulx 0201 3B rti ; IX -> 0,x 0202 _TOF_isr:: 0202 .dbfunc TOF_isr 0202 .dbline 176 ; ; void TOF_isr(void){} 0202 L47: 0202 3B rti ; IX -> 0,x 0203 _RTI_isr:: 0203 .dbfunc RTI_isr 0203 .dbline 178 ; ; void RTI_isr(void){} 0203 L48: 0203 3B rti .area bss 0000 _position:: 0000 .blkb 2 0002 _period:: 0002 .blkb 2 0004 _duty_cycle:: 0004 .blkb 2 0006 _timertjp:: 0006 .blkb 2 0008 _days:: 0008 .blkb 2 000A _hours:: 000A .blkb 2 000C _minutes:: 000C .blkb 2 000E _seconds:: 000E .blkb 2 0010 _msec:: 0010 .blkb 2 .area text 0204 L22: 0204 504E45554D415449432043594C494E44 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'C,'Y,'L,'I,'N,'D 0214 455220444941474E4F53544943205052 .byte 'E,'R,32,'D,'I,'A,'G,'N,'O,'S,'T,'I,'C,32,'P,'R 0224 4F4752414D0A0A00 .byte 'O,'G,'R,'A,'M,10,10,0 022C L21: 022C 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 023C 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 024C 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 025C 653A090946656272756172792C203230 .byte 'e,58,9,9,'F,'e,'b,'r,'u,'a,'r,'y,44,32,50,48 026C 30300A0956657273696F6E0909310A0A .byte 48,48,10,9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10 027C 00 .byte 0 027D L20: 027D 257300 .byte 37,'s,0