.module valve5.c .dbfile valve5.c .area text ; IX -> 0,x _SCI_isr:: .dbfile C:\ICCTJP\include/isrdecl.h .dbfunc SCI_isr .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 L2: rti ; IX -> 0,x _SPI_isr:: .dbfunc SPI_isr .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 *********************/ ; ; 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_home[]= "\x1b[1;1H"; /*Home*/ ; ; char place_text[] = "\x1b[10;1H";/*position for text to be entered*/ ; L5: rti ; IX -> 0,x _TOC3_isr:: .dbfunc TOC3_isr .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); ; } L6: rti ; IX -> 0,x _TIC3_isr:: .dbfunc TIC3_isr .dbline 101 ; while ((desired_position <= valve_sensor + TOLERANCE) && (desired_position >= valve_sensor - TOLERANCE)){ ; INTR_OFF(); ; } ; } ; ; } ; ; ; /**************************** End of Main *******************************/ ; ; ; L7: rti ; IX -> 0,x _TIC2_isr:: .dbfunc TIC2_isr .dbline 107 ; /************************** Function Defintions *************************/ ; ; void move_cylinder(int desired_position) ; { ; int real_position; ; //while (real_position != desired_position) L8: rti ; IX -> 0,x _TIC1_isr:: .dbfunc TIC1_isr .dbline 113 ; //{ ; real_position = valve_sensor; ; if (real_position > desired_position) ; { ; CLEAR_BIT(PORTA, 0x20); ; } L9: rti ; IX -> 0,x _IRQ_isr:: .dbfunc IRQ_isr .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) L10: rti ; IX -> 0,x _XIRQ_isr:: .dbfunc XIRQ_isr .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 L11: rti ; IX -> 0,x _SWI_isr:: .dbfunc SWI_isr .dbline 137 ; //printf("End of Init pulse\n\n"); ; } ; ; void pulse_handler() ; { //printf("ISR\n"); ; L12: rti ; IX -> 0,x _ILLOP_isr:: .dbfunc ILLOP_isr .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) ; { L13: rti ; IX -> 0,x _COP_isr:: .dbfunc COP_isr .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 L14: rti ; IX -> 0,x _CLMON_isr:: .dbfunc CLMON_isr .dbline 155 ; { ; CLEAR_BIT(TCTL1, 0x80); //Set the pin to rising edge ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } ; L15: rti .area data _drew:: .blkw 1 .area idata .word _interrupt_vectors .area text L17: .byte 27,91,50,'J,4,0 L18: .byte 27,91,49,59,49,'H,0 L19: .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 _main:: jsr __enterb .byte 0x26 .dbfile valve5.c .dbfunc main .dbline 53 ldd 0,x addd #30 ldy #L17 pshx xgdx ldd #6 jsr __asgnblk pulx .dbline 56 ldd 0,x addd #23 ldy #L18 pshx xgdx ldd #7 jsr __asgnblk pulx .dbline 58 ldd 0,x addd #15 ldy #L19 pshx xgdx ldd #8 jsr __asgnblk pulx .dbline 62 ldd #150 std 36,x .dbline 65 ldy #0x1026 bset 0,y,#128 .dbline 66 jsr _init_pulse .dbline 67 jsr _init_analog .dbline 68 jsr _init_serial .dbline 70 ldd 0,x addd #30 pshb psha ldd #L20 jsr _printf puly .dbline 71 ldd 0,x addd #23 pshb psha ldd #L20 jsr _printf puly .dbline 73 ldd #L21 jsr _printf .dbline 78 ldd #L22 jsr _printf .dbline 79 ldd #30000 std _period .dbline 80 ldd #15000 std _duty_cycle sei .dbline 81 bra L24 L23: cli .dbline 83 bra L27 L26: .dbline 85 ldy #0x1000 bclr 0,y,#0x20 .dbline 86 L27: ldd #1 jsr _analog std 4,x ldd 36,x cpd 4,x blt L26 bra L30 L29: .dbline 88 ldy #0x1000 bset 0,y,#32 .dbline 89 L30: ldd #1 jsr _analog std 6,x ldd 36,x cpd 6,x bgt L29 bra L33 L32: sei .dbline 92 L33: ldd #1 jsr _analog addd #5 std 2,x ldd 36,x cpd 2,x bgt L35 ldd #1 jsr _analog subd #5 std 2,x ldd 36,x cpd 2,x bge L32 L35: .dbline 93 L24: bra L23 L16: xgdx addd #38 xgdx txs pulx rts ; IX -> 0,x ; real_position -> 2,x ; desired_position -> 6,x _move_cylinder:: jsr __enterb .byte 0x44 .dbfunc move_cylinder .dbline 109 ldd #1 jsr _analog std 2,x .dbline 110 ldd 2,x cpd 6,x ble L37 .dbline 112 ldy #0x1000 bclr 0,y,#0x20 .dbline 113 bra L38 L37: .dbline 116 ldy #0x1000 bset 0,y,#32 .dbline 117 L38: cli sei .dbline 122 ldy #0x1000 bclr 0,y,#0x40 .dbline 123 L36: inx inx inx inx txs pulx puly rts ; IX -> 0,x _init_pulse:: sei .dbfunc init_pulse .dbline 128 ldy #0x1020 bset 0,y,#128 .dbline 129 ldy #0x1020 bclr 0,y,#0x40 .dbline 130 ldd #0 std 0x1018 .dbline 131 ldy #0x1022 bset 0,y,#64 .dbline 133 L39: rts ; IX -> 0,x ; rMEM -> 2,x _TOC2_isr:: jsr __enterb .byte 0x4 .dbfunc TOC2_isr .dbline 141 ldd _duty_cycle cpd #100 bhi L41 .dbline 144 ldy #0x1020 bset 0,y,#128 .dbline 145 ldy #0x1020 bclr 0,y,#0x40 .dbline 146 ; vol ldd 0x1018 addd _period std 0x1018 .dbline 147 bra L42 L41: .dbline 149 ldd _period subd _duty_cycle cpd #100 bhi L43 .dbline 151 ldy #0x1020 bclr 0,y,#0x80 .dbline 152 ldy #0x1020 bset 0,y,#64 .dbline 153 ; vol ldd 0x1018 addd _period std 0x1018 .dbline 154 bra L44 L43: .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 ldy #0x1020 brclr 0,y,#64,L45 .dbline 160 ; { ; CLEAR_BIT(TCTL1, 0x40); //Clear bit 6 to set for falling edge on next interrupt ldy #0x1020 bclr 0,y,#0x40 .dbline 161 ; SET_BIT(TCTL1, 0X80); ldy #0x1020 bset 0,y,#128 .dbline 162 ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high ; vol ldd 0x1018 addd _duty_cycle std 0x1018 .dbline 163 ; } bra L46 L45: .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 ldy #0x1020 bset 0,y,#192 .dbline 168 ; TOC2 += (period - duty_cycle); ldd _period subd _duty_cycle std 2,x ; vol ldd 0x1018 addd 2,x std 0x1018 .dbline 169 ; } L46: .dbline 170 ; } L44: L42: .dbline 173 ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag ldy #0x1023 bclr 0,y,#0xbf .dbline 174 ; } //This is the end of the interrupt routine L40: inx inx inx inx txs pulx rti ; IX -> 0,x _TOF_isr:: .dbfunc TOF_isr .dbline 176 ; ; void TOF_isr(void){} L47: rti ; IX -> 0,x _RTI_isr:: .dbfunc RTI_isr .dbline 178 ; ; void RTI_isr(void){} L48: rti .area bss _position:: .blkb 2 _period:: .blkb 2 _duty_cycle:: .blkb 2 _timertjp:: .blkb 2 _days:: .blkb 2 _hours:: .blkb 2 _minutes:: .blkb 2 _seconds:: .blkb 2 _msec:: .blkb 2 .area text L22: .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 L21: .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 L20: .byte 37,'s,0