.module valve5.c --- 0000 .dbfile valve5.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .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 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .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 *********************/ ; ; 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_home[]= "\x1b[1;1H"; /*Home*/ ; ; char place_text[] = "\x1b[10;1H";/*position for text to be entered*/ ; 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOC3_isr:: 9817 .dbfunc TOC3_isr 9817 .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); ; } 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TIC3_isr:: 9818 .dbfunc TIC3_isr 9818 .dbline 101 ; while ((desired_position <= valve_sensor + TOLERANCE) && (desired_position >= valve_sensor - TOLERANCE)){ ; INTR_OFF(); ; } ; } ; ; } ; ; ; /**************************** End of Main *******************************/ ; ; ; 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC2_isr:: 9819 .dbfunc TIC2_isr 9819 .dbline 107 ; /************************** Function Defintions *************************/ ; ; void move_cylinder(int desired_position) ; { ; int real_position; ; //while (real_position != desired_position) 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC1_isr:: 981A .dbfunc TIC1_isr 981A .dbline 113 ; //{ ; real_position = valve_sensor; ; if (real_position > desired_position) ; { ; CLEAR_BIT(PORTA, 0x20); ; } 981A L9: 981A 3B rti ; IX -> 0,x 981B _IRQ_isr:: 981B .dbfunc IRQ_isr 981B .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) 981B L10: 981B 3B rti ; IX -> 0,x 981C _XIRQ_isr:: 981C .dbfunc XIRQ_isr 981C .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 981C L11: 981C 3B rti ; IX -> 0,x 981D _SWI_isr:: 981D .dbfunc SWI_isr 981D .dbline 137 ; //printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() ; { //printf("ISR\n"); ; 981D L12: 981D 3B rti ; IX -> 0,x 981E _ILLOP_isr:: 981E .dbfunc ILLOP_isr 981E .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) ; { 981E L13: 981E 3B rti ; IX -> 0,x 981F _COP_isr:: 981F .dbfunc COP_isr 981F .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 981F L14: 981F 3B rti ; IX -> 0,x 9820 _CLMON_isr:: 9820 .dbfunc CLMON_isr 9820 .dbline 155 ; { ; CLEAR_BIT(TCTL1, 0x80); //Set the pin to rising edge ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } ; 9820 L15: 9820 3B rti .area data 9A95 _drew:: 9A95 .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 9836 _main:: 9836 BD86BA jsr __enterb 9839 26 .byte 0x26 983A .dbfile valve5.c 983A .dbfunc main 983A .dbline 53 983A EC00 ldd 0,x 983C C3001E addd #30 983F 18CE9821 ldy #L17 9843 3C pshx 9844 8F xgdx 9845 CC0006 ldd #6 9848 BD86A2 jsr __asgnblk 984B 38 pulx 984C .dbline 56 984C EC00 ldd 0,x 984E C30017 addd #23 9851 18CE9827 ldy #L18 9855 3C pshx 9856 8F xgdx 9857 CC0007 ldd #7 985A BD86A2 jsr __asgnblk 985D 38 pulx 985E .dbline 58 985E EC00 ldd 0,x 9860 C3000F addd #15 9863 18CE982E ldy #L19 9867 3C pshx 9868 8F xgdx 9869 CC0008 ldd #8 986C BD86A2 jsr __asgnblk 986F 38 pulx 9870 .dbline 62 9870 CC0096 ldd #150 9873 ED24 std 36,x 9875 .dbline 65 9875 18CE1026 ldy #0x1026 9879 181C0080 bset 0,y,#128 987D .dbline 66 987D BD995B jsr _init_pulse 9880 .dbline 67 9880 BD813B jsr _init_analog 9883 .dbline 68 9883 BD8381 jsr _init_serial 9886 .dbline 70 9886 EC00 ldd 0,x 9888 C3001E addd #30 988B 37 pshb 988C 36 psha 988D CC9A90 ldd #L20 9890 BD9442 jsr _printf 9893 1838 puly 9895 .dbline 71 9895 EC00 ldd 0,x 9897 C30017 addd #23 989A 37 pshb 989B 36 psha 989C CC9A90 ldd #L20 989F BD9442 jsr _printf 98A2 1838 puly 98A4 .dbline 73 98A4 CC9A3F ldd #L21 98A7 BD9442 jsr _printf 98AA .dbline 78 98AA CC9A17 ldd #L22 98AD BD9442 jsr _printf 98B0 .dbline 79 98B0 CC7530 ldd #30000 98B3 FD9AB0 std _period 98B6 .dbline 80 98B6 CC3A98 ldd #15000 98B9 FD9AB2 std _duty_cycle 98BC 0F sei 98BD .dbline 81 98BD 205A bra L24 98BF L23: 98BF 0E cli 98C0 .dbline 83 98C0 2008 bra L27 98C2 L26: 98C2 .dbline 85 98C2 18CE1000 ldy #0x1000 98C6 181D0020 bclr 0,y,#0x20 98CA .dbline 86 98CA L27: 98CA CC0001 ldd #1 98CD BD8144 jsr _analog 98D0 ED04 std 4,x 98D2 EC24 ldd 36,x 98D4 1AA304 cpd 4,x 98D7 2DE9 blt L26 98D9 2008 bra L30 98DB L29: 98DB .dbline 88 98DB 18CE1000 ldy #0x1000 98DF 181C0020 bset 0,y,#32 98E3 .dbline 89 98E3 L30: 98E3 CC0001 ldd #1 98E6 BD8144 jsr _analog 98E9 ED06 std 6,x 98EB EC24 ldd 36,x 98ED 1AA306 cpd 6,x 98F0 2EE9 bgt L29 98F2 2001 bra L33 98F4 L32: 98F4 0F sei 98F5 .dbline 92 98F5 L33: 98F5 CC0001 ldd #1 98F8 BD8144 jsr _analog 98FB C30005 addd #5 98FE ED02 std 2,x 9900 EC24 ldd 36,x 9902 1AA302 cpd 2,x 9905 2E12 bgt L35 9907 CC0001 ldd #1 990A BD8144 jsr _analog 990D 830005 subd #5 9910 ED02 std 2,x 9912 EC24 ldd 36,x 9914 1AA302 cpd 2,x 9917 2CDB bge L32 9919 L35: 9919 .dbline 93 9919 L24: 9919 20A4 bra L23 991B L16: 991B 8F xgdx 991C C30026 addd #38 991F 8F xgdx 9920 35 txs 9921 38 pulx 9922 39 rts ; IX -> 0,x ; real_position -> 2,x ; desired_position -> 6,x 9923 _move_cylinder:: 9923 BD86BA jsr __enterb 9926 44 .byte 0x44 9927 .dbfunc move_cylinder 9927 .dbline 109 9927 CC0001 ldd #1 992A BD8144 jsr _analog 992D ED02 std 2,x 992F .dbline 110 992F EC02 ldd 2,x 9931 1AA306 cpd 6,x 9934 2F0A ble L37 9936 .dbline 112 9936 18CE1000 ldy #0x1000 993A 181D0020 bclr 0,y,#0x20 993E .dbline 113 993E 2008 bra L38 9940 L37: 9940 .dbline 116 9940 18CE1000 ldy #0x1000 9944 181C0020 bset 0,y,#32 9948 .dbline 117 9948 L38: 9948 0E cli 9949 0F sei 994A .dbline 122 994A 18CE1000 ldy #0x1000 994E 181D0040 bclr 0,y,#0x40 9952 .dbline 123 9952 L36: 9952 08 inx 9953 08 inx 9954 08 inx 9955 08 inx 9956 35 txs 9957 38 pulx 9958 1838 puly 995A 39 rts ; IX -> 0,x 995B _init_pulse:: 995B 0F sei 995C .dbfunc init_pulse 995C .dbline 128 995C 18CE1020 ldy #0x1020 9960 181C0080 bset 0,y,#128 9964 .dbline 129 9964 18CE1020 ldy #0x1020 9968 181D0040 bclr 0,y,#0x40 996C .dbline 130 996C CC0000 ldd #0 996F FD1018 std 0x1018 9972 .dbline 131 9972 18CE1022 ldy #0x1022 9976 181C0040 bset 0,y,#64 997A .dbline 133 997A L39: 997A 39 rts ; IX -> 0,x ; rMEM -> 2,x 997B _TOC2_isr:: 997B BD86BA jsr __enterb 997E 04 .byte 0x4 997F .dbfunc TOC2_isr 997F .dbline 141 997F FC9AB2 ldd _duty_cycle 9982 1A830064 cpd #100 9986 221B bhi L41 9988 .dbline 144 9988 18CE1020 ldy #0x1020 998C 181C0080 bset 0,y,#128 9990 .dbline 145 9990 18CE1020 ldy #0x1020 9994 181D0040 bclr 0,y,#0x40 9998 .dbline 146 ; vol 9998 FC1018 ldd 0x1018 999B F39AB0 addd _period 999E FD1018 std 0x1018 99A1 .dbline 147 99A1 2063 bra L42 99A3 L41: 99A3 .dbline 149 99A3 FC9AB0 ldd _period 99A6 B39AB2 subd _duty_cycle 99A9 1A830064 cpd #100 99AD 221B bhi L43 99AF .dbline 151 99AF 18CE1020 ldy #0x1020 99B3 181D0080 bclr 0,y,#0x80 99B7 .dbline 152 99B7 18CE1020 ldy #0x1020 99BB 181C0040 bset 0,y,#64 99BF .dbline 153 ; vol 99BF FC1018 ldd 0x1018 99C2 F39AB0 addd _period 99C5 FD1018 std 0x1018 99C8 .dbline 154 99C8 203C bra L44 99CA L43: 99CA .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 99CA 18CE1020 ldy #0x1020 99CE 181F00401B brclr 0,y,#64,L45 99D3 .dbline 160 ; { ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt 99D3 18CE1020 ldy #0x1020 99D7 181D0040 bclr 0,y,#0x40 99DB .dbline 161 ; SET_BIT(TCTL1, 0X80); 99DB 18CE1020 ldy #0x1020 99DF 181C0080 bset 0,y,#128 99E3 .dbline 162 ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high ; vol 99E3 FC1018 ldd 0x1018 99E6 F39AB2 addd _duty_cycle 99E9 FD1018 std 0x1018 99EC .dbline 163 ; } 99EC 2018 bra L46 99EE L45: 99EE .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 99EE 18CE1020 ldy #0x1020 99F2 181C00C0 bset 0,y,#192 99F6 .dbline 168 ; TOC2 += (period - duty_cycle); 99F6 FC9AB0 ldd _period 99F9 B39AB2 subd _duty_cycle 99FC ED02 std 2,x ; vol 99FE FC1018 ldd 0x1018 9A01 E302 addd 2,x 9A03 FD1018 std 0x1018 9A06 .dbline 169 ; } 9A06 L46: 9A06 .dbline 170 ; } 9A06 L44: 9A06 L42: 9A06 .dbline 173 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag 9A06 18CE1023 ldy #0x1023 9A0A 181D00BF bclr 0,y,#0xbf 9A0E .dbline 174 ; } //This is the end of the interrupt routine 9A0E L40: 9A0E 08 inx 9A0F 08 inx 9A10 08 inx 9A11 08 inx 9A12 35 txs 9A13 38 pulx 9A14 3B rti ; IX -> 0,x 9A15 _TOF_isr:: 9A15 .dbfunc TOF_isr 9A15 .dbline 176 ; ; void TOF_isr(void){} 9A15 L47: 9A15 3B rti ; IX -> 0,x 9A16 _RTI_isr:: 9A16 .dbfunc RTI_isr 9A16 .dbline 178 ; ; void RTI_isr(void){} 9A16 L48: 9A16 3B rti .area bss 9AAE _position:: 9AAE .blkb 2 9AB0 _period:: 9AB0 .blkb 2 9AB2 _duty_cycle:: 9AB2 .blkb 2 9AB4 _timertjp:: 9AB4 .blkb 2 9AB6 _days:: 9AB6 .blkb 2 9AB8 _hours:: 9AB8 .blkb 2 9ABA _minutes:: 9ABA .blkb 2 9ABC _seconds:: 9ABC .blkb 2 9ABE _msec:: 9ABE .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