.module velocity.c 0000 .dbfile velocity.c .area text ; IX -> 0,x 0000 _SCI_isr:: 0000 .dbfile C:\ICCTJP\include/isrdecl.h 0000 .dbfunc SCI_isr 0000 .dbline 41 ; /************************************************************************************************************************ ; * Program: velocity.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 20, 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 ***********************/ ; ; 0000 L2: 0000 3B rti ; IX -> 0,x 0001 _SPI_isr:: 0001 .dbfunc SPI_isr 0001 .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 *********************/ ; ; 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[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate 0003 L5: 0003 3B rti ; IX -> 0,x 0004 _TOC3_isr:: 0004 .dbfunc TOC3_isr 0004 .dbline 89 ; SET_BIT(TMSK2, 0x40);//Enable RTI interrupt ; ; init_pulse(); ; init_analog(); ; init_serial(); ; printf("\tTitle:\t\tvalve.c\n" ; "\tProgrammer:\tScott Nortman\n" ; "\tDate:\t\tMarch, 2000\n" ; "\tVersion\t\t1\n\n"); ; printf("PNEUMATIC VELOCITY TESTPROGRAM\n\n"); ; ; printf("\nEnter period in e clocks / 1000.\n"); ; period = (read_int() * 1000); ; printf("\nEnter duty cycle in elcocks / 1000.\n"); ; duty_cycle = (read_int() * 1000); ; ; INTR_ON(); ; ; while(1) ; { ; if (valve_sensor <= 5) ; { ; SET_BIT(PORTA, 0x20); ; } ; else if (valve_sensor >= 250) ; { ; CLEAR_BIT(PORTA, 0x20); ; } ; ; INTR_OFF(); 0004 L6: 0004 3B rti ; IX -> 0,x 0005 _TIC3_isr:: 0005 .dbfunc TIC3_isr 0005 .dbline 101 ; ; }/*End While*/ ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; ; ; ; /************************** Function Defintions *************************/ ; 0005 L7: 0005 3B rti ; IX -> 0,x 0006 _TIC2_isr:: 0006 .dbfunc TIC2_isr 0006 .dbline 107 ; void init_pulse(void) ; { ; 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 0006 L8: 0006 3B rti ; IX -> 0,x 0007 _TIC1_isr:: 0007 .dbfunc TIC1_isr 0007 .dbline 113 ; SET_BIT(TMSK1, 0x40); //Enable OC2 mask ; //INTR_ON(); ; ; printf("End of Init pulse\n\n"); ; } ; 0007 L9: 0007 3B rti ; IX -> 0,x 0008 _IRQ_isr:: 0008 .dbfunc IRQ_isr 0008 .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 50 e clocks ( almost always off) ; { ; SET_BIT(TCTL1, 0x80); //Enable OC2 for falling edge (make sure pin goes low) ; CLEAR_BIT(TCTL1, 0X40); 0008 L10: 0008 3B rti ; IX -> 0,x 0009 _XIRQ_isr:: 0009 .dbfunc XIRQ_isr 0009 .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 0009 L11: 0009 3B rti ; IX -> 0,x 000A _SWI_isr:: 000A .dbfunc SWI_isr 000A .dbline 137 ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } ; ; else //This is for the general case ; { 000A L12: 000A 3B rti ; IX -> 0,x 000B _ILLOP_isr:: 000B .dbfunc ILLOP_isr 000B .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 ; } 000B L13: 000B 3B rti ; IX -> 0,x 000C _COP_isr:: 000C .dbfunc COP_isr 000C .dbline 149 ; ; else //if(!(TCTL1 & 0x40)) //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); ; } 000C L14: 000C 3B rti ; IX -> 0,x 000D _CLMON_isr:: 000D .dbfunc CLMON_isr 000D .dbline 155 ; } ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag ; } //This is the end of the interrupt routine ; 000D L15: 000D 3B rti .area data 0000 _drew:: 0000 .blkw 1 .area idata 0000 0000 .word _interrupt_vectors .area data 0002 _error:: 0002 .blkb 2 .area idata 0002 0000 .word 0 .area data 0004 _desired:: 0004 .blkb 2 .area idata 0004 0096 .word 150 .area data 0006 _count:: 0006 .blkb 4 .area idata 0006 00000000 .word 0,0 .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 ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x ; func temp: 2,x - 6,x ; place -> 7,x ; clear -> 14,x 001B _main:: 001B BD0000 jsr __enterb 001E 94 .byte 0x94 001F .dbfile velocity.c 001F .dbfunc main 001F .dbline 53 001F EC00 ldd 0,x 0021 C3000E addd #14 0024 18CE000E ldy #L17 0028 3C pshx 0029 8F xgdx 002A CC0006 ldd #6 002D BD0000 jsr __asgnblk 0030 38 pulx 0031 .dbline 56 0031 EC00 ldd 0,x 0033 C30007 addd #7 0036 18CE0014 ldy #L18 003A 3C pshx 003B 8F xgdx 003C CC0007 ldd #7 003F BD0000 jsr __asgnblk 0042 38 pulx 0043 .dbline 58 0043 18CE1026 ldy #0x1026 0047 181C0080 bset 0,y,#128 004B .dbline 59 004B 18CE1026 ldy #0x1026 004F 181D0003 bclr 0,y,#0x3 0053 .dbline 60 0053 18CE1024 ldy #0x1024 0057 181C0040 bset 0,y,#64 005B .dbline 62 005B BD00E4 jsr _init_pulse 005E .dbline 63 005E BD0000 jsr _init_analog 0061 .dbline 64 0061 BD0000 jsr _init_serial 0064 .dbline 65 0064 CC02A0 ldd #L19 0067 BD0000 jsr _printf 006A .dbline 69 006A CC027F ldd #L20 006D BD0000 jsr _printf 0070 .dbline 71 0070 CC025C ldd #L21 0073 BD0000 jsr _printf 0076 .dbline 72 0076 BD0000 jsr _read_int 0079 ED02 std 2,x 007B CC03E8 ldd #1000 007E 1AEE02 ldy 2,x 0081 BD0000 jsr __muli 0084 BD0000 jsr __d2lreg 0087 18CE0002 ldy #_period 008B BD0000 jsr __lreg2y 008E .dbline 73 008E CC0236 ldd #L22 0091 BD0000 jsr _printf 0094 .dbline 74 0094 BD0000 jsr _read_int 0097 ED04 std 4,x 0099 CC03E8 ldd #1000 009C 1AEE04 ldy 4,x 009F BD0000 jsr __muli 00A2 BD0000 jsr __d2lreg 00A5 18CE0006 ldy #_duty_cycle 00A9 BD0000 jsr __lreg2y 00AC 0E cli 00AD .dbline 76 00AD 202B bra L24 00AF L23: 00AF .dbline 80 00AF CC0001 ldd #1 00B2 BD0000 jsr _analog 00B5 1A830005 cpd #5 00B9 2E0A bgt L26 00BB .dbline 82 00BB 18CE1000 ldy #0x1000 00BF 181C0020 bset 0,y,#32 00C3 .dbline 83 00C3 2014 bra L27 00C5 L26: 00C5 .dbline 84 00C5 CC0001 ldd #1 00C8 BD0000 jsr _analog 00CB 1A8300FA cpd #250 00CF 2D08 blt L28 00D1 .dbline 86 00D1 18CE1000 ldy #0x1000 00D5 181D0020 bclr 0,y,#0x20 00D9 .dbline 87 00D9 L28: 00D9 L27: 00D9 0F sei 00DA .dbline 91 00DA L24: 00DA .dbline 78 00DA 20D3 bra L23 00DC L16: 00DC 8F xgdx 00DD C30014 addd #20 00E0 8F xgdx 00E1 35 txs 00E2 38 pulx 00E3 39 rts ; IX -> 0,x 00E4 _init_pulse:: 00E4 0F sei 00E5 .dbfunc init_pulse 00E5 .dbline 105 00E5 18CE1020 ldy #0x1020 00E9 181C0080 bset 0,y,#128 00ED .dbline 106 00ED 18CE1020 ldy #0x1020 00F1 181D0040 bclr 0,y,#0x40 00F5 .dbline 107 00F5 CC0000 ldd #0 00F8 FD1018 std 0x1018 00FB .dbline 108 00FB 18CE1022 ldy #0x1022 00FF 181C0040 bset 0,y,#64 0103 .dbline 111 0103 CC0222 ldd #L31 0106 BD0000 jsr _printf 0109 .dbline 112 0109 L30: 0109 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 010A _TOC2_isr:: 010A BD0000 jsr __enterb 010D 82 .byte 0x82 010E .dbfunc TOC2_isr 010E .dbline 121 010E 18CE0006 ldy #_duty_cycle 0112 BD0000 jsr __ly2reg 0115 18CE021E ldy #L35 0119 BD0000 jsr __ly2reg2 011C BD0000 jsr __lcmp 011F 2E29 bgt L33 0121 .dbline 124 0121 18CE1020 ldy #0x1020 0125 181C0080 bset 0,y,#128 0129 .dbline 125 0129 18CE1020 ldy #0x1020 012D 181D0040 bclr 0,y,#0x40 0131 .dbline 126 0131 18CE0002 ldy #_period 0135 BD0000 jsr __ly2reg2 ; vol 0138 FC1018 ldd 0x1018 013B BD0000 jsr __ud2lreg 013E BD0000 jsr __ladd 0141 BD0000 jsr __lreg2d 0144 FD1018 std 0x1018 0147 .dbline 127 0147 7E01EB jmp L34 014A L33: 014A .dbline 129 014A 18CE0002 ldy #_period 014E BD0000 jsr __ly2reg 0151 18CE0006 ldy #_duty_cycle 0155 BD0000 jsr __ly2reg2 0158 BD0000 jsr __lsub 015B 18CE021E ldy #L35 015F BD0000 jsr __ly2reg2 0162 BD0000 jsr __lcmp 0165 2E28 bgt L36 0167 .dbline 131 0167 18CE1020 ldy #0x1020 016B 181D0080 bclr 0,y,#0x80 016F .dbline 132 016F 18CE1020 ldy #0x1020 0173 181C0040 bset 0,y,#64 0177 .dbline 133 0177 18CE0002 ldy #_period 017B BD0000 jsr __ly2reg2 ; vol 017E FC1018 ldd 0x1018 0181 BD0000 jsr __ud2lreg 0184 BD0000 jsr __ladd 0187 BD0000 jsr __lreg2d 018A FD1018 std 0x1018 018D .dbline 134 018D 205C bra L37 018F L36: 018F .dbline 138 018F 18CE1020 ldy #0x1020 0193 181F004028 brclr 0,y,#64,L38 0198 .dbline 140 0198 18CE1020 ldy #0x1020 019C 181D0040 bclr 0,y,#0x40 01A0 .dbline 141 01A0 18CE1020 ldy #0x1020 01A4 181C0080 bset 0,y,#128 01A8 .dbline 142 01A8 18CE0006 ldy #_duty_cycle 01AC BD0000 jsr __ly2reg2 ; vol 01AF FC1018 ldd 0x1018 01B2 BD0000 jsr __ud2lreg 01B5 BD0000 jsr __ladd 01B8 BD0000 jsr __lreg2d 01BB FD1018 std 0x1018 01BE .dbline 143 01BE 202B bra L39 01C0 L38: 01C0 .dbline 147 01C0 18CE1020 ldy #0x1020 01C4 181C00C0 bset 0,y,#192 01C8 .dbline 148 01C8 18CE0002 ldy #_period 01CC BD0000 jsr __ly2reg 01CF 18CE0006 ldy #_duty_cycle 01D3 BD0000 jsr __ly2reg2 01D6 BD0000 jsr __lsub 01D9 BD0000 jsr __lregmov ; vol 01DC FC1018 ldd 0x1018 01DF BD0000 jsr __ud2lreg 01E2 BD0000 jsr __ladd 01E5 BD0000 jsr __lreg2d 01E8 FD1018 std 0x1018 01EB .dbline 149 01EB L39: 01EB .dbline 150 01EB L37: 01EB L34: 01EB .dbline 153 01EB 18CE1023 ldy #0x1023 01EF 181D00BF bclr 0,y,#0xbf 01F3 .dbline 154 01F3 L32: 01F3 08 inx 01F4 08 inx 01F5 35 txs 01F6 38 pulx 01F7 3B rti ; IX -> 0,x 01F8 _RTI_isr:: 01F8 .dbfunc RTI_isr 01F8 .dbline 158 ; void RTI_isr(void) ; { ; printf("%d\n", valve_sensor); 01F8 CC0001 ldd #1 01FB BD0000 jsr _analog 01FE 37 pshb 01FF 36 psha 0200 CC021A ldd #L41 0203 BD0000 jsr _printf 0206 1838 puly 0208 .dbline 159 ; CLEAR_FLAG(TFLG2, 0x40); 0208 18CE1025 ldy #0x1025 020C 181D00BF bclr 0,y,#0xbf 0210 .dbline 160 ; } 0210 L40: 0210 3B rti ; IX -> 0,x 0211 _TOF_isr:: 0211 .dbfunc TOF_isr 0211 .dbline 164 ; ; void TOF_isr(void) ; { ; CLEAR_FLAG(TFLG1, 0x80); 0211 18CE1023 ldy #0x1023 0215 181D007F bclr 0,y,#0x7f 0219 .dbline 165 ; } 0219 L42: 0219 3B rti .area bss 0000 _gain:: 0000 .blkb 2 0002 _period:: 0002 .blkb 4 0006 _duty_cycle:: 0006 .blkb 4 000A _timertjp:: 000A .blkb 2 000C _days:: 000C .blkb 2 000E _hours:: 000E .blkb 2 0010 _minutes:: 0010 .blkb 2 0012 _seconds:: 0012 .blkb 2 0014 _msec:: 0014 .blkb 2 .area text 021A L41: 021A 25640A00 .byte 37,'d,10,0 021E L35: 021E 00000064 .word 0,100 0222 L31: 0222 456E64206F6620496E69742070756C73 .byte 'E,'n,'d,32,'o,'f,32,'I,'n,'i,'t,32,'p,'u,'l,'s 0232 650A0A00 .byte 'e,10,10,0 0236 L22: 0236 0A456E7465722064757479206379636C .byte 10,'E,'n,'t,'e,'r,32,'d,'u,'t,'y,32,'c,'y,'c,'l 0246 6520696E20656C636F636B73202F2031 .byte 'e,32,'i,'n,32,'e,'l,'c,'o,'c,'k,'s,32,47,32,49 0256 3030302E0A00 .byte 48,48,48,46,10,0 025C L21: 025C 0A456E74657220706572696F6420696E .byte 10,'E,'n,'t,'e,'r,32,'p,'e,'r,'i,'o,'d,32,'i,'n 026C 206520636C6F636B73202F2031303030 .byte 32,'e,32,'c,'l,'o,'c,'k,'s,32,47,32,49,48,48,48 027C 2E0A00 .byte 46,10,0 027F L20: 027F 504E45554D415449432056454C4F4349 .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'V,'E,'L,'O,'C,'I 028F 5459205445535450524F4752414D0A0A .byte 'T,'Y,32,'T,'E,'S,'T,'P,'R,'O,'G,'R,'A,'M,10,10 029F 00 .byte 0 02A0 L19: 02A0 095469746C653A090976616C76652E63 .byte 9,'T,'i,'t,'l,'e,58,9,9,'v,'a,'l,'v,'e,46,'c 02B0 0A0950726F6772616D6D65723A095363 .byte 10,9,'P,'r,'o,'g,'r,'a,'m,'m,'e,'r,58,9,'S,'c 02C0 6F7474204E6F72746D616E0A09446174 .byte 'o,'t,'t,32,'N,'o,'r,'t,'m,'a,'n,10,9,'D,'a,'t 02D0 653A09094D617263682C20323030300A .byte 'e,58,9,9,'M,'a,'r,'c,'h,44,32,50,48,48,48,10 02E0 0956657273696F6E0909310A0A00 .byte 9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0