.module valve6.c --- 0000 .dbfile valve6.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .dbline 41 ; /************************************************************************************************************************ ; * Program: crap.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: March 16, 2000 * ; ************************************************************************************************************************/ ; ; /**************************** Constants *********************************/ ; #define pulse_handler TOC2_isr ; #define valve_sensor analog(1) ; #define in 0 ; #define out 1 ; #define P 0 ; #define I 1 ; #define D 2 ; #define dt 4096 ; /**************************** End of Constants **************************/ ; ; /*************************** Interrupts *********************************/ ; #pragma interrupt_handler TOC2_isr, RTI_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 desired_position; ; int error[3] = {0}; ; int k[3] = {300, 0, 0}; 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .dbline 47 ; char clear[]= "\x1b\x5B\x32\x4A\x04"; ; ; /************************ End of Global Variables ***********************/ ; ; ; /************************** Function Declarations **********************/ 9814 L3: 9814 3B rti ; IX -> 0,x 9815 _PAIE_isr:: 9815 .dbfunc PAIE_isr 9815 .dbline 53 ; void init_pulse(); //Initilizes TOC for PWM interrupts ; void move(int); ; void pulse_handler(); //This is the function executed at each TOC2_isr ; void move_cylinder(int); ; long pidControl(int error[3], int k[3], int deltat); ; /******************** End of Function Declarations *********************/ 9815 L4: 9815 3B rti ; IX -> 0,x 9816 _PAV_isr:: 9816 .dbfunc PAV_isr 9816 .dbline 59 ; ; ; /**************************** Main **************************************/ ; ; void main(void) ; { 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOF_isr:: 9817 .dbfunc TOF_isr 9817 .dbline 65 ; /* VT100 clear screen */ ; char clear[]= "\x1b\x5B\x32\x4A\x04"; ; ; /* VT100 position cursor at (x,y) = (3,12) command is "\x1b[3;12H"*/ ; char place_home[]= "\x1b[1;1H"; /*Home*/ ; 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TOC3_isr:: 9818 .dbfunc TOC3_isr 9818 .dbline 89 ; char place_text[] = "\x1b[10;1H";/*position for text to be entered*/ ; ; desired_position = 150; ; ; SET_BIT(PACTL, 0x80); //Data direction for porta ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate ; SET_BIT(TMSK2, 0x40);//Enable RTI interrupt ; init_pulse(); ; init_analog(); ; init_serial(); ; ; printf("%s", clear); ; printf("%s", place_home); ; ; period = 60000; ; INTR_ON(); ; while (1) ; { ; duty_cycle = pidControl(error, k, dt); ; ; if (duty_cycle < 0) ; { ; CLEAR_BIT(PORTA, 0x20); ; duty_cycle = -1 * duty_cycle; 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC3_isr:: 9819 .dbfunc TIC3_isr 9819 .dbline 101 ; } ; else ; { ; SET_BIT(PORTA, 0x20); ; } ; } ; ; } ; ; ; /**************************** End of Main *******************************/ ; 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC2_isr:: 981A .dbfunc TIC2_isr 981A .dbline 107 ; ; ; /************************** Function Defintions *************************/ ; ; void init_pulse(void) ; { 981A L9: 981A 3B rti ; IX -> 0,x 981B _TIC1_isr:: 981B .dbfunc TIC1_isr 981B .dbline 113 ; 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 ; } 981B L10: 981B 3B rti ; IX -> 0,x 981C _IRQ_isr:: 981C .dbfunc IRQ_isr 981C .dbline 125 ; ; void pulse_handler() ; { //printf("ISR\n"); ; ; //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) ; { ; SET_BIT(TCTL1, 0x80); //Enable OC2 for falling edge (make sure pin goes low) ; CLEAR_BIT(TCTL1, 0X40); 981C L11: 981C 3B rti ; IX -> 0,x 981D _XIRQ_isr:: 981D .dbfunc XIRQ_isr 981D .dbline 131 ; 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 ; { ; CLEAR_BIT(TCTL1, 0x80); //Set the pin to rising edge 981D L12: 981D 3B rti ; IX -> 0,x 981E _SWI_isr:: 981E .dbfunc SWI_isr 981E .dbline 137 ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } ; ; else //This is for the general case ; { 981E L13: 981E 3B rti ; IX -> 0,x 981F _ILLOP_isr:: 981F .dbfunc ILLOP_isr 981F .dbline 143 ; 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 ; SET_BIT(TCTL1, 0X80); ; TOC2 += duty_cycle; //Add the duty cycle e clocks if you are now high ; } 981F L14: 981F 3B rti ; IX -> 0,x 9820 _COP_isr:: 9820 .dbfunc COP_isr 9820 .dbline 149 ; ; 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 ; TOC2 += (period - duty_cycle); ; } 9820 L15: 9820 3B rti ; IX -> 0,x 9821 _CLMON_isr:: 9821 .dbfunc CLMON_isr 9821 .dbline 155 ; } ; ; ; CLEAR_FLAG(TFLG1, 0x40); //Clear the interrupt flag ; } //This is the end of the interrupt routine ; 9821 L16: 9821 3B rti .area data 9C3F _drew:: 9C3F .blkw 1 .area idata --- 0000 0000 .word _interrupt_vectors .area data 9C41 _error:: 9C41 .blkb 2 .area idata --- 0002 0000 .word 0 .area data --- 0004 .blkb 4 .area idata --- 0004 00000000 .byte 0,0,0,0 .area data 9C47 _k:: 9C47 .blkb 2 .area idata --- 0008 012C .word 300 .area data --- 000A .blkb 2 .area idata --- 000A 0000 .word 0 .area data --- 000C .blkb 2 .area idata --- 000C 0000 .word 0 .area data 9C4D _clear:: 9C4D .blkb 6 .area idata --- 000E 1B5B324A0400 .byte 27,91,50,'J,4,0 .area text --- 000F L18: --- 000F 1B5B324A0400 .byte 27,91,50,'J,4,0 --- 0015 L19: --- 0015 1B5B313B314800 .byte 27,91,49,59,49,'H,0 --- 001C L20: --- 001C 1B5B31303B314800 .byte 27,91,49,48,59,49,'H,0 ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; ?temp -> 3,x ; place_text -> 7,x ; place_home -> 15,x ; clear -> 22,x 9837 _main:: 9837 BD86BA jsr __enterb 983A 9C .byte 0x9c 983B .dbfile valve6.c 983B .dbfunc main 983B .dbline 61 983B EC00 ldd 0,x 983D C30016 addd #22 9840 18CE9822 ldy #L18 9844 3C pshx 9845 8F xgdx 9846 CC0006 ldd #6 9849 BD86A2 jsr __asgnblk 984C 38 pulx 984D .dbline 64 984D EC00 ldd 0,x 984F C3000F addd #15 9852 18CE9828 ldy #L19 9856 3C pshx 9857 8F xgdx 9858 CC0007 ldd #7 985B BD86A2 jsr __asgnblk 985E 38 pulx 985F .dbline 66 985F EC00 ldd 0,x 9861 C30007 addd #7 9864 18CE982F ldy #L20 9868 3C pshx 9869 8F xgdx 986A CC0008 ldd #8 986D BD86A2 jsr __asgnblk 9870 38 pulx 9871 .dbline 68 9871 CC0096 ldd #150 9874 FD9C6A std _desired_position 9877 .dbline 70 9877 18CE1026 ldy #0x1026 987B 181C0080 bset 0,y,#128 987F .dbline 71 987F 18CE1026 ldy #0x1026 9883 181D0003 bclr 0,y,#0x3 9887 .dbline 72 9887 18CE1024 ldy #0x1024 988B 181C0040 bset 0,y,#64 988F .dbline 73 988F BD993D jsr _init_pulse 9892 .dbline 74 9892 BD813B jsr _init_analog 9895 .dbline 75 9895 BD8381 jsr _init_serial 9898 .dbline 77 9898 EC00 ldd 0,x 989A C30016 addd #22 989D 37 pshb 989E 36 psha 989F CC9C28 ldd #L21 98A2 BD9442 jsr _printf 98A5 1838 puly 98A7 .dbline 78 98A7 EC00 ldd 0,x 98A9 C3000F addd #15 98AC 37 pshb 98AD 36 psha 98AE CC9C28 ldd #L21 98B1 BD9442 jsr _printf 98B4 1838 puly 98B6 .dbline 80 98B6 18CE9C24 ldy #L22 98BA BD88F8 jsr __ly2reg 98BD 18CE9C6C ldy #_period 98C1 BD8935 jsr __lreg2y 98C4 0E cli 98C5 .dbline 81 98C5 206C bra L24 98C7 L23: 98C7 .dbline 84 98C7 CC1000 ldd #4096 98CA 37 pshb 98CB 36 psha 98CC CC9C47 ldd #_k 98CF 37 pshb 98D0 36 psha 98D1 CC9C41 ldd #_error 98D4 BD9B0E jsr _pidControl 98D7 1838 puly 98D9 1838 puly 98DB EC00 ldd 0,x 98DD C30003 addd #3 98E0 188F xgdy 98E2 BD8935 jsr __lreg2y 98E5 EC00 ldd 0,x 98E7 C30003 addd #3 98EA 188F xgdy 98EC BD88F8 jsr __ly2reg 98EF 18CE9C70 ldy #_duty_cycle 98F3 BD8935 jsr __lreg2y 98F6 .dbline 86 98F6 18CE9C70 ldy #_duty_cycle 98FA BD88F8 jsr __ly2reg 98FD 18CE9C20 ldy #L28 9901 BD891E jsr __ly2reg2 9904 BD8D86 jsr __lcmp 9907 2C22 bge L26 9909 .dbline 88 9909 18CE1000 ldy #0x1000 990D 181D0020 bclr 0,y,#0x20 9911 .dbline 89 9911 18CE9C1C ldy #L29 9915 BD88F8 jsr __ly2reg 9918 18CE9C70 ldy #_duty_cycle 991C BD891E jsr __ly2reg2 991F BD8ACD jsr __lmul 9922 18CE9C70 ldy #_duty_cycle 9926 BD8935 jsr __lreg2y 9929 .dbline 90 9929 2008 bra L27 992B L26: 992B .dbline 93 992B 18CE1000 ldy #0x1000 992F 181C0020 bset 0,y,#32 9933 .dbline 94 9933 L27: 9933 .dbline 95 9933 L24: 9933 .dbline 82 9933 2092 bra L23 9935 L17: 9935 8F xgdx 9936 C3001C addd #28 9939 8F xgdx 993A 35 txs 993B 38 pulx 993C 39 rts ; IX -> 0,x 993D _init_pulse:: 993D 0F sei 993E .dbfunc init_pulse 993E .dbline 109 993E 18CE1020 ldy #0x1020 9942 181C0080 bset 0,y,#128 9946 .dbline 110 9946 18CE1020 ldy #0x1020 994A 181D0040 bclr 0,y,#0x40 994E .dbline 111 994E CC0000 ldd #0 9951 FD1018 std 0x1018 9954 .dbline 112 9954 18CE1022 ldy #0x1022 9958 181C0040 bset 0,y,#64 995C .dbline 113 995C L30: 995C 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 995D _TOC2_isr:: 995D BD86BA jsr __enterb 9960 82 .byte 0x82 9961 .dbfunc TOC2_isr 9961 .dbline 121 9961 18CE9C70 ldy #_duty_cycle 9965 BD88F8 jsr __ly2reg 9968 18CE9C18 ldy #L34 996C BD891E jsr __ly2reg2 996F BD8D86 jsr __lcmp 9972 2E29 bgt L32 9974 .dbline 124 9974 18CE1020 ldy #0x1020 9978 181C0080 bset 0,y,#128 997C .dbline 125 997C 18CE1020 ldy #0x1020 9980 181D0040 bclr 0,y,#0x40 9984 .dbline 126 9984 18CE9C6C ldy #_period 9988 BD891E jsr __ly2reg2 ; vol 998B FC1018 ldd 0x1018 998E BD89B9 jsr __ud2lreg 9991 BD8A84 jsr __ladd 9994 BD89DF jsr __lreg2d 9997 FD1018 std 0x1018 999A .dbline 127 999A 7E9A3E jmp L33 999D L32: 999D .dbline 129 999D 18CE9C6C ldy #_period 99A1 BD88F8 jsr __ly2reg 99A4 18CE9C70 ldy #_duty_cycle 99A8 BD891E jsr __ly2reg2 99AB BD8A9F jsr __lsub 99AE 18CE9C18 ldy #L34 99B2 BD891E jsr __ly2reg2 99B5 BD8D86 jsr __lcmp 99B8 2E28 bgt L35 99BA .dbline 131 99BA 18CE1020 ldy #0x1020 99BE 181D0080 bclr 0,y,#0x80 99C2 .dbline 132 99C2 18CE1020 ldy #0x1020 99C6 181C0040 bset 0,y,#64 99CA .dbline 133 99CA 18CE9C6C ldy #_period 99CE BD891E jsr __ly2reg2 ; vol 99D1 FC1018 ldd 0x1018 99D4 BD89B9 jsr __ud2lreg 99D7 BD8A84 jsr __ladd 99DA BD89DF jsr __lreg2d 99DD FD1018 std 0x1018 99E0 .dbline 134 99E0 205C bra L36 99E2 L35: 99E2 .dbline 138 99E2 18CE1020 ldy #0x1020 99E6 181F004028 brclr 0,y,#64,L37 99EB .dbline 140 99EB 18CE1020 ldy #0x1020 99EF 181D0040 bclr 0,y,#0x40 99F3 .dbline 141 99F3 18CE1020 ldy #0x1020 99F7 181C0080 bset 0,y,#128 99FB .dbline 142 99FB 18CE9C70 ldy #_duty_cycle 99FF BD891E jsr __ly2reg2 ; vol 9A02 FC1018 ldd 0x1018 9A05 BD89B9 jsr __ud2lreg 9A08 BD8A84 jsr __ladd 9A0B BD89DF jsr __lreg2d 9A0E FD1018 std 0x1018 9A11 .dbline 143 9A11 202B bra L38 9A13 L37: 9A13 .dbline 147 9A13 18CE1020 ldy #0x1020 9A17 181C00C0 bset 0,y,#192 9A1B .dbline 148 9A1B 18CE9C6C ldy #_period 9A1F BD88F8 jsr __ly2reg 9A22 18CE9C70 ldy #_duty_cycle 9A26 BD891E jsr __ly2reg2 9A29 BD8A9F jsr __lsub 9A2C BD8972 jsr __lregmov ; vol 9A2F FC1018 ldd 0x1018 9A32 BD89B9 jsr __ud2lreg 9A35 BD8A84 jsr __ladd 9A38 BD89DF jsr __lreg2d 9A3B FD1018 std 0x1018 9A3E .dbline 149 9A3E L38: 9A3E .dbline 150 9A3E L36: 9A3E L33: 9A3E .dbline 153 9A3E 18CE1023 ldy #0x1023 9A42 181D00BF bclr 0,y,#0xbf 9A46 .dbline 154 9A46 L31: 9A46 08 inx 9A47 08 inx 9A48 35 txs 9A49 38 pulx 9A4A 3B rti 9A4B L40: 9A4B 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_home -> 5,x 9A52 _RTI_isr:: 9A52 BD86BA jsr __enterb 9A55 8C .byte 0x8c 9A56 .dbfunc RTI_isr 9A56 .dbline 161 ; void RTI_isr(void) ; { ; ; ; /* VT100 position cursor at (x,y) = (3,12) command is "\x1b[3;12H"*/ ; char place_home[]= "\x1b[1;1H"; /*Home*/ 9A56 EC00 ldd 0,x 9A58 C30005 addd #5 9A5B 18CE9A4B ldy #L40 9A5F 3C pshx 9A60 8F xgdx 9A61 CC0007 ldd #7 9A64 BD86A2 jsr __asgnblk 9A67 38 pulx 9A68 .dbline 162 ; error [2] = error[1]; 9A68 FC9C43 ldd _error+2 9A6B FD9C45 std _error+4 9A6E .dbline 163 ; error[1] = error[0]; 9A6E FC9C41 ldd _error 9A71 FD9C43 std _error+2 9A74 .dbline 164 ; error[0] = (desired_position - valve_sensor); 9A74 CC0001 ldd #1 9A77 BD8144 jsr _analog 9A7A ED02 std 2,x 9A7C FC9C6A ldd _desired_position 9A7F A302 subd 2,x 9A81 FD9C41 std _error 9A84 .dbline 167 ; ; ; printf("%s", place_home); 9A84 EC00 ldd 0,x 9A86 C30005 addd #5 9A89 37 pshb 9A8A 36 psha 9A8B CC9C28 ldd #L21 9A8E BD9442 jsr _printf 9A91 1838 puly 9A93 .dbline 168 ; printf("%s", clear); 9A93 CC9C4D ldd #_clear 9A96 37 pshb 9A97 36 psha 9A98 CC9C28 ldd #L21 9A9B BD9442 jsr _printf 9A9E 1838 puly 9AA0 .dbline 170 ; ; printf("Valve sensor: %d\n", valve_sensor); 9AA0 CC0001 ldd #1 9AA3 BD8144 jsr _analog 9AA6 37 pshb 9AA7 36 psha 9AA8 CC9C05 ldd #L44 9AAB BD9442 jsr _printf 9AAE 1838 puly 9AB0 .dbline 172 ; ; printf("element 0: %d\n", error[0]); 9AB0 FC9C41 ldd _error 9AB3 37 pshb 9AB4 36 psha 9AB5 CC9BF5 ldd #L45 9AB8 BD9442 jsr _printf 9ABB 1838 puly 9ABD .dbline 173 ; printf("element 1: %d\n", error[1]); 9ABD FC9C43 ldd _error+2 9AC0 37 pshb 9AC1 36 psha 9AC2 CC9BE5 ldd #L46 9AC5 BD9442 jsr _printf 9AC8 1838 puly 9ACA .dbline 174 ; printf("element 2: %d\n", error[2]); 9ACA FC9C45 ldd _error+4 9ACD 37 pshb 9ACE 36 psha 9ACF CC9BD5 ldd #L48 9AD2 BD9442 jsr _printf 9AD5 1838 puly 9AD7 .dbline 175 ; printf("PGain: %d\n", k[P]); 9AD7 FC9C47 ldd _k 9ADA 37 pshb 9ADB 36 psha 9ADC CC9BC9 ldd #L50 9ADF BD9442 jsr _printf 9AE2 1838 puly 9AE4 .dbline 176 ; printf("DC: %ld\n", duty_cycle); 9AE4 18CE9C70 ldy #_duty_cycle 9AE8 BD88F8 jsr __ly2reg 9AEB 183C pshy 9AED 183C pshy 9AEF 1830 tsy 9AF1 BD8935 jsr __lreg2y 9AF4 CC9BBF ldd #L51 9AF7 BD9442 jsr _printf 9AFA 1838 puly 9AFC 1838 puly 9AFE .dbline 177 ; CLEAR_FLAG(TFLG2, 0x40); 9AFE 18CE1025 ldy #0x1025 9B02 181D00BF bclr 0,y,#0xbf 9B06 .dbline 179 ; ; } 9B06 L39: 9B06 8F xgdx 9B07 C3000C addd #12 9B0A 8F xgdx 9B0B 35 txs 9B0C 38 pulx 9B0D 3B rti ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; deltaM -> 2,x ; deltaMd -> 6,x ; deltaMi -> 10,x ; deltaMp -> 14,x ; deltat -> 26,x ; k -> 24,x ; error -> 20,x 9B0E _pidControl:: 9B0E BD86BA jsr __enterb 9B11 D2 .byte 0xd2 9B12 .dbfunc pidControl 9B12 .dbline 187 ; ; long pidControl(int error[3], int k[3], int deltat) ; { ; long deltaMp, deltaMi, deltaMd; ; long deltaM; ; ; //proportional ; deltaMp = (k[P] * error[0]); 9B12 1AEE18 ldy 24,x 9B15 18EC00 ldd 0,y 9B18 1AEE14 ldy 20,x 9B1B 18EE00 ldy 0,y 9B1E BD8669 jsr __muli 9B21 BD8987 jsr __d2lreg 9B24 EC00 ldd 0,x 9B26 C3000E addd #14 9B29 188F xgdy 9B2B BD8935 jsr __lreg2y 9B2E .dbline 189 ; //integral ; deltaMi = k[I] * error[0] * deltat; 9B2E 1AEE18 ldy 24,x 9B31 18EC02 ldd 2,y 9B34 1AEE14 ldy 20,x 9B37 18EE00 ldy 0,y 9B3A BD8669 jsr __muli 9B3D 1AEE1A ldy 26,x 9B40 BD8669 jsr __muli 9B43 BD8987 jsr __d2lreg 9B46 EC00 ldd 0,x 9B48 C3000A addd #10 9B4B 188F xgdy 9B4D BD8935 jsr __lreg2y 9B50 .dbline 191 ; //derivative ; deltaMd = k[D] * (error[0] - error[1]); 9B50 1AEE14 ldy 20,x 9B53 18EC00 ldd 0,y 9B56 1AEE14 ldy 20,x 9B59 18A302 subd 2,y 9B5C 188F xgdy 9B5E 183C pshy ; spill 9B60 1AEE18 ldy 24,x 9B63 18EC04 ldd 4,y 9B66 1838 puly ; reload 9B68 BD8669 jsr __muli 9B6B BD8987 jsr __d2lreg 9B6E EC00 ldd 0,x 9B70 C30006 addd #6 9B73 188F xgdy 9B75 BD8935 jsr __lreg2y 9B78 .dbline 193 ; ; deltaM = deltaMp + deltaMi + deltaMd; 9B78 EC00 ldd 0,x 9B7A C3000E addd #14 9B7D 188F xgdy 9B7F BD88F8 jsr __ly2reg 9B82 EC00 ldd 0,x 9B84 C3000A addd #10 9B87 188F xgdy 9B89 BD891E jsr __ly2reg2 9B8C BD8A84 jsr __ladd 9B8F EC00 ldd 0,x 9B91 C30006 addd #6 9B94 188F xgdy 9B96 BD891E jsr __ly2reg2 9B99 BD8A84 jsr __ladd 9B9C EC00 ldd 0,x 9B9E C30002 addd #2 9BA1 188F xgdy 9BA3 BD8935 jsr __lreg2y 9BA6 .dbline 194 ; return (deltaM); 9BA6 EC00 ldd 0,x 9BA8 C30002 addd #2 9BAB 188F xgdy 9BAD BD88F8 jsr __ly2reg 9BB0 BD89EC jsr __lret 9BB3 0012 .word 18 9BB5 L52: 9BB5 8F xgdx 9BB6 C30012 addd #18 9BB9 8F xgdx 9BBA 35 txs 9BBB 38 pulx 9BBC 1838 puly 9BBE 39 rts .area bss 9C6A _desired_position:: 9C6A .blkb 2 9C6C _period:: 9C6C .blkb 4 9C70 _duty_cycle:: 9C70 .blkb 4 9C74 _timertjp:: 9C74 .blkb 2 9C76 _days:: 9C76 .blkb 2 9C78 _hours:: 9C78 .blkb 2 9C7A _minutes:: 9C7A .blkb 2 9C7C _seconds:: 9C7C .blkb 2 9C7E _msec:: 9C7E .blkb 2 .area text --- 03AC L51: --- 03AC 44433A2020256C640A00 .byte 'D,'C,58,32,32,37,'l,'d,10,0 --- 03B6 L50: --- 03B6 504761696E3A202025640A00 .byte 'P,'G,'a,'i,'n,58,32,32,37,'d,10,0 --- 03C2 L48: --- 03C2 656C656D656E7420323A202025640A00 .byte 'e,'l,'e,'m,'e,'n,'t,32,50,58,32,32,37,'d,10,0 --- 03D2 L46: --- 03D2 656C656D656E7420313A202025640A00 .byte 'e,'l,'e,'m,'e,'n,'t,32,49,58,32,32,37,'d,10,0 --- 03E2 L45: --- 03E2 656C656D656E7420303A202025640A00 .byte 'e,'l,'e,'m,'e,'n,'t,32,48,58,32,32,37,'d,10,0 --- 03F2 L44: --- 03F2 56616C76652073656E736F723A202025 .byte 'V,'a,'l,'v,'e,32,'s,'e,'n,'s,'o,'r,58,32,32,37 --- 0402 640A00 .byte 'd,10,0 --- 0405 L34: --- 0405 00000064 .word 0,100 --- 0409 L29: --- 0409 FFFFFFFF .word 65535,65535 --- 040D L28: --- 040D 00000000 .word 0,0 --- 0411 L22: --- 0411 00007FFF .word 0,32767 --- 0415 L21: --- 0415 257300 .byte 37,'s,0