.module velocity.c --- 0000 .dbfile velocity.c .area text ; IX -> 0,x 9813 _SCI_isr:: 9813 .dbfile C:\ICCTJP\include/isrdecl.h 9813 .dbfunc SCI_isr 9813 .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 ***********************/ ; ; 9813 L2: 9813 3B rti ; IX -> 0,x 9814 _SPI_isr:: 9814 .dbfunc SPI_isr 9814 .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 *********************/ ; ; 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[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate 9816 L5: 9816 3B rti ; IX -> 0,x 9817 _TOC3_isr:: 9817 .dbfunc TOC3_isr 9817 .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(); 9817 L6: 9817 3B rti ; IX -> 0,x 9818 _TIC3_isr:: 9818 .dbfunc TIC3_isr 9818 .dbline 101 ; ; }/*End While*/ ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; ; ; ; /************************** Function Defintions *************************/ ; 9818 L7: 9818 3B rti ; IX -> 0,x 9819 _TIC2_isr:: 9819 .dbfunc TIC2_isr 9819 .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 9819 L8: 9819 3B rti ; IX -> 0,x 981A _TIC1_isr:: 981A .dbfunc TIC1_isr 981A .dbline 113 ; SET_BIT(TMSK1, 0x40); //Enable OC2 mask ; //INTR_ON(); ; ; printf("End of Init pulse\n\n"); ; } ; 981A L9: 981A 3B rti ; IX -> 0,x 981B _IRQ_isr:: 981B .dbfunc IRQ_isr 981B .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); 981B L10: 981B 3B rti ; IX -> 0,x 981C _XIRQ_isr:: 981C .dbfunc XIRQ_isr 981C .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 981C L11: 981C 3B rti ; IX -> 0,x 981D _SWI_isr:: 981D .dbfunc SWI_isr 981D .dbline 137 ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } ; ; else //This is for the general case ; { 981D L12: 981D 3B rti ; IX -> 0,x 981E _ILLOP_isr:: 981E .dbfunc ILLOP_isr 981E .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 ; } 981E L13: 981E 3B rti ; IX -> 0,x 981F _COP_isr:: 981F .dbfunc COP_isr 981F .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); ; } 981F L14: 981F 3B rti ; IX -> 0,x 9820 _CLMON_isr:: 9820 .dbfunc CLMON_isr 9820 .dbline 155 ; } ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag ; } //This is the end of the interrupt routine ; 9820 L15: 9820 3B rti .area data 9B0B _drew:: 9B0B .blkw 1 .area idata --- 0000 0000 .word _interrupt_vectors .area data 9B0D _error:: 9B0D .blkb 2 .area idata --- 0002 0000 .word 0 .area data 9B0F _desired:: 9B0F .blkb 2 .area idata --- 0004 0096 .word 150 .area data 9B11 _count:: 9B11 .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 982E _main:: 982E BD86BA jsr __enterb 9831 94 .byte 0x94 9832 .dbfile velocity.c 9832 .dbfunc main 9832 .dbline 53 9832 EC00 ldd 0,x 9834 C3000E addd #14 9837 18CE9821 ldy #L17 983B 3C pshx 983C 8F xgdx 983D CC0006 ldd #6 9840 BD86A2 jsr __asgnblk 9843 38 pulx 9844 .dbline 56 9844 EC00 ldd 0,x 9846 C30007 addd #7 9849 18CE9827 ldy #L18 984D 3C pshx 984E 8F xgdx 984F CC0007 ldd #7 9852 BD86A2 jsr __asgnblk 9855 38 pulx 9856 .dbline 58 9856 18CE1026 ldy #0x1026 985A 181C0080 bset 0,y,#128 985E .dbline 59 985E 18CE1026 ldy #0x1026 9862 181D0003 bclr 0,y,#0x3 9866 .dbline 60 9866 18CE1024 ldy #0x1024 986A 181C0040 bset 0,y,#64 986E .dbline 62 986E BD98F7 jsr _init_pulse 9871 .dbline 63 9871 BD813B jsr _init_analog 9874 .dbline 64 9874 BD8381 jsr _init_serial 9877 .dbline 65 9877 CC9AB3 ldd #L19 987A BD9442 jsr _printf 987D .dbline 69 987D CC9A92 ldd #L20 9880 BD9442 jsr _printf 9883 .dbline 71 9883 CC9A6F ldd #L21 9886 BD9442 jsr _printf 9889 .dbline 72 9889 BD856F jsr _read_int 988C ED02 std 2,x 988E CC03E8 ldd #1000 9891 1AEE02 ldy 2,x 9894 BD8669 jsr __muli 9897 BD8987 jsr __d2lreg 989A 18CE9B2E ldy #_period 989E BD8935 jsr __lreg2y 98A1 .dbline 73 98A1 CC9A49 ldd #L22 98A4 BD9442 jsr _printf 98A7 .dbline 74 98A7 BD856F jsr _read_int 98AA ED04 std 4,x 98AC CC03E8 ldd #1000 98AF 1AEE04 ldy 4,x 98B2 BD8669 jsr __muli 98B5 BD8987 jsr __d2lreg 98B8 18CE9B32 ldy #_duty_cycle 98BC BD8935 jsr __lreg2y 98BF 0E cli 98C0 .dbline 76 98C0 202B bra L24 98C2 L23: 98C2 .dbline 80 98C2 CC0001 ldd #1 98C5 BD8144 jsr _analog 98C8 1A830005 cpd #5 98CC 2E0A bgt L26 98CE .dbline 82 98CE 18CE1000 ldy #0x1000 98D2 181C0020 bset 0,y,#32 98D6 .dbline 83 98D6 2014 bra L27 98D8 L26: 98D8 .dbline 84 98D8 CC0001 ldd #1 98DB BD8144 jsr _analog 98DE 1A8300FA cpd #250 98E2 2D08 blt L28 98E4 .dbline 86 98E4 18CE1000 ldy #0x1000 98E8 181D0020 bclr 0,y,#0x20 98EC .dbline 87 98EC L28: 98EC L27: 98EC 0F sei 98ED .dbline 91 98ED L24: 98ED .dbline 78 98ED 20D3 bra L23 98EF L16: 98EF 8F xgdx 98F0 C30014 addd #20 98F3 8F xgdx 98F4 35 txs 98F5 38 pulx 98F6 39 rts ; IX -> 0,x 98F7 _init_pulse:: 98F7 0F sei 98F8 .dbfunc init_pulse 98F8 .dbline 105 98F8 18CE1020 ldy #0x1020 98FC 181C0080 bset 0,y,#128 9900 .dbline 106 9900 18CE1020 ldy #0x1020 9904 181D0040 bclr 0,y,#0x40 9908 .dbline 107 9908 CC0000 ldd #0 990B FD1018 std 0x1018 990E .dbline 108 990E 18CE1022 ldy #0x1022 9912 181C0040 bset 0,y,#64 9916 .dbline 111 9916 CC9A35 ldd #L31 9919 BD9442 jsr _printf 991C .dbline 112 991C L30: 991C 39 rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x 991D _TOC2_isr:: 991D BD86BA jsr __enterb 9920 82 .byte 0x82 9921 .dbfunc TOC2_isr 9921 .dbline 121 9921 18CE9B32 ldy #_duty_cycle 9925 BD88F8 jsr __ly2reg 9928 18CE9A31 ldy #L35 992C BD891E jsr __ly2reg2 992F BD8D86 jsr __lcmp 9932 2E29 bgt L33 9934 .dbline 124 9934 18CE1020 ldy #0x1020 9938 181C0080 bset 0,y,#128 993C .dbline 125 993C 18CE1020 ldy #0x1020 9940 181D0040 bclr 0,y,#0x40 9944 .dbline 126 9944 18CE9B2E ldy #_period 9948 BD891E jsr __ly2reg2 ; vol 994B FC1018 ldd 0x1018 994E BD89B9 jsr __ud2lreg 9951 BD8A84 jsr __ladd 9954 BD89DF jsr __lreg2d 9957 FD1018 std 0x1018 995A .dbline 127 995A 7E99FE jmp L34 995D L33: 995D .dbline 129 995D 18CE9B2E ldy #_period 9961 BD88F8 jsr __ly2reg 9964 18CE9B32 ldy #_duty_cycle 9968 BD891E jsr __ly2reg2 996B BD8A9F jsr __lsub 996E 18CE9A31 ldy #L35 9972 BD891E jsr __ly2reg2 9975 BD8D86 jsr __lcmp 9978 2E28 bgt L36 997A .dbline 131 997A 18CE1020 ldy #0x1020 997E 181D0080 bclr 0,y,#0x80 9982 .dbline 132 9982 18CE1020 ldy #0x1020 9986 181C0040 bset 0,y,#64 998A .dbline 133 998A 18CE9B2E ldy #_period 998E BD891E jsr __ly2reg2 ; vol 9991 FC1018 ldd 0x1018 9994 BD89B9 jsr __ud2lreg 9997 BD8A84 jsr __ladd 999A BD89DF jsr __lreg2d 999D FD1018 std 0x1018 99A0 .dbline 134 99A0 205C bra L37 99A2 L36: 99A2 .dbline 138 99A2 18CE1020 ldy #0x1020 99A6 181F004028 brclr 0,y,#64,L38 99AB .dbline 140 99AB 18CE1020 ldy #0x1020 99AF 181D0040 bclr 0,y,#0x40 99B3 .dbline 141 99B3 18CE1020 ldy #0x1020 99B7 181C0080 bset 0,y,#128 99BB .dbline 142 99BB 18CE9B32 ldy #_duty_cycle 99BF BD891E jsr __ly2reg2 ; vol 99C2 FC1018 ldd 0x1018 99C5 BD89B9 jsr __ud2lreg 99C8 BD8A84 jsr __ladd 99CB BD89DF jsr __lreg2d 99CE FD1018 std 0x1018 99D1 .dbline 143 99D1 202B bra L39 99D3 L38: 99D3 .dbline 147 99D3 18CE1020 ldy #0x1020 99D7 181C00C0 bset 0,y,#192 99DB .dbline 148 99DB 18CE9B2E ldy #_period 99DF BD88F8 jsr __ly2reg 99E2 18CE9B32 ldy #_duty_cycle 99E6 BD891E jsr __ly2reg2 99E9 BD8A9F jsr __lsub 99EC BD8972 jsr __lregmov ; vol 99EF FC1018 ldd 0x1018 99F2 BD89B9 jsr __ud2lreg 99F5 BD8A84 jsr __ladd 99F8 BD89DF jsr __lreg2d 99FB FD1018 std 0x1018 99FE .dbline 149 99FE L39: 99FE .dbline 150 99FE L37: 99FE L34: 99FE .dbline 153 99FE 18CE1023 ldy #0x1023 9A02 181D00BF bclr 0,y,#0xbf 9A06 .dbline 154 9A06 L32: 9A06 08 inx 9A07 08 inx 9A08 35 txs 9A09 38 pulx 9A0A 3B rti ; IX -> 0,x 9A0B _RTI_isr:: 9A0B .dbfunc RTI_isr 9A0B .dbline 158 ; void RTI_isr(void) ; { ; printf("%d\n", valve_sensor); 9A0B CC0001 ldd #1 9A0E BD8144 jsr _analog 9A11 37 pshb 9A12 36 psha 9A13 CC9A2D ldd #L41 9A16 BD9442 jsr _printf 9A19 1838 puly 9A1B .dbline 159 ; CLEAR_FLAG(TFLG2, 0x40); 9A1B 18CE1025 ldy #0x1025 9A1F 181D00BF bclr 0,y,#0xbf 9A23 .dbline 160 ; } 9A23 L40: 9A23 3B rti ; IX -> 0,x 9A24 _TOF_isr:: 9A24 .dbfunc TOF_isr 9A24 .dbline 164 ; ; void TOF_isr(void) ; { ; CLEAR_FLAG(TFLG1, 0x80); 9A24 18CE1023 ldy #0x1023 9A28 181D007F bclr 0,y,#0x7f 9A2C .dbline 165 ; } 9A2C L42: 9A2C 3B rti .area bss 9B2C _gain:: 9B2C .blkb 2 9B2E _period:: 9B2E .blkb 4 9B32 _duty_cycle:: 9B32 .blkb 4 9B36 _timertjp:: 9B36 .blkb 2 9B38 _days:: 9B38 .blkb 2 9B3A _hours:: 9B3A .blkb 2 9B3C _minutes:: 9B3C .blkb 2 9B3E _seconds:: 9B3E .blkb 2 9B40 _msec:: 9B40 .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