.module velocity.c .dbfile velocity.c .area text ; IX -> 0,x _SCI_isr:: .dbfile C:\ICCTJP\include/isrdecl.h .dbfunc SCI_isr .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 ***********************/ ; ; L2: rti ; IX -> 0,x _SPI_isr:: .dbfunc SPI_isr .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 *********************/ ; ; 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[]= "\x1b[1;1H"; /*Home*/ ; ; SET_BIT(PACTL, 0x80); ; CLEAR_BIT(PACTL, 0x03); //Set RTI rate L5: rti ; IX -> 0,x _TOC3_isr:: .dbfunc TOC3_isr .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(); L6: rti ; IX -> 0,x _TIC3_isr:: .dbfunc TIC3_isr .dbline 101 ; ; }/*End While*/ ; ; }/*End Main*/ ; ; ; /**************************** End of Main *******************************/ ; ; ; ; /************************** Function Defintions *************************/ ; L7: rti ; IX -> 0,x _TIC2_isr:: .dbfunc TIC2_isr .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 L8: rti ; IX -> 0,x _TIC1_isr:: .dbfunc TIC1_isr .dbline 113 ; SET_BIT(TMSK1, 0x40); //Enable OC2 mask ; //INTR_ON(); ; ; printf("End of Init pulse\n\n"); ; } ; L9: rti ; IX -> 0,x _IRQ_isr:: .dbfunc IRQ_isr .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); L10: rti ; IX -> 0,x _XIRQ_isr:: .dbfunc XIRQ_isr .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 L11: rti ; IX -> 0,x _SWI_isr:: .dbfunc SWI_isr .dbline 137 ; SET_BIT(TCTL1, 0X40); ; TOC2 += period; //Add period ; } ; ; else //This is for the general case ; { L12: rti ; IX -> 0,x _ILLOP_isr:: .dbfunc ILLOP_isr .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 ; } L13: rti ; IX -> 0,x _COP_isr:: .dbfunc COP_isr .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); ; } L14: rti ; IX -> 0,x _CLMON_isr:: .dbfunc CLMON_isr .dbline 155 ; } ; ; ; CLEAR_FLAG(TFLG1, 0x40) //Clear the interrupt flag ; } //This is the end of the interrupt routine ; L15: rti .area data _drew:: .blkw 1 .area idata .word _interrupt_vectors .area data _error:: .blkb 2 .area idata .word 0 .area data _desired:: .blkb 2 .area idata .word 150 .area data _count:: .blkb 4 .area idata .word 0,0 .area text L17: .byte 27,91,50,'J,4,0 L18: .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 _main:: jsr __enterb .byte 0x94 .dbfile velocity.c .dbfunc main .dbline 53 ldd 0,x addd #14 ldy #L17 pshx xgdx ldd #6 jsr __asgnblk pulx .dbline 56 ldd 0,x addd #7 ldy #L18 pshx xgdx ldd #7 jsr __asgnblk pulx .dbline 58 ldy #0x1026 bset 0,y,#128 .dbline 59 ldy #0x1026 bclr 0,y,#0x3 .dbline 60 ldy #0x1024 bset 0,y,#64 .dbline 62 jsr _init_pulse .dbline 63 jsr _init_analog .dbline 64 jsr _init_serial .dbline 65 ldd #L19 jsr _printf .dbline 69 ldd #L20 jsr _printf .dbline 71 ldd #L21 jsr _printf .dbline 72 jsr _read_int std 2,x ldd #1000 ldy 2,x jsr __muli jsr __d2lreg ldy #_period jsr __lreg2y .dbline 73 ldd #L22 jsr _printf .dbline 74 jsr _read_int std 4,x ldd #1000 ldy 4,x jsr __muli jsr __d2lreg ldy #_duty_cycle jsr __lreg2y cli .dbline 76 bra L24 L23: .dbline 80 ldd #1 jsr _analog cpd #5 bgt L26 .dbline 82 ldy #0x1000 bset 0,y,#32 .dbline 83 bra L27 L26: .dbline 84 ldd #1 jsr _analog cpd #250 blt L28 .dbline 86 ldy #0x1000 bclr 0,y,#0x20 .dbline 87 L28: L27: sei .dbline 91 L24: .dbline 78 bra L23 L16: xgdx addd #20 xgdx txs pulx rts ; IX -> 0,x _init_pulse:: sei .dbfunc init_pulse .dbline 105 ldy #0x1020 bset 0,y,#128 .dbline 106 ldy #0x1020 bclr 0,y,#0x40 .dbline 107 ldd #0 std 0x1018 .dbline 108 ldy #0x1022 bset 0,y,#64 .dbline 111 ldd #L31 jsr _printf .dbline 112 L30: rts ; lreg1 -> -4,x ; lreg2 -> -8,x ; IX -> 0,x _TOC2_isr:: jsr __enterb .byte 0x82 .dbfunc TOC2_isr .dbline 121 ldy #_duty_cycle jsr __ly2reg ldy #L35 jsr __ly2reg2 jsr __lcmp bgt L33 .dbline 124 ldy #0x1020 bset 0,y,#128 .dbline 125 ldy #0x1020 bclr 0,y,#0x40 .dbline 126 ldy #_period jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 127 jmp L34 L33: .dbline 129 ldy #_period jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lsub ldy #L35 jsr __ly2reg2 jsr __lcmp bgt L36 .dbline 131 ldy #0x1020 bclr 0,y,#0x80 .dbline 132 ldy #0x1020 bset 0,y,#64 .dbline 133 ldy #_period jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 134 bra L37 L36: .dbline 138 ldy #0x1020 brclr 0,y,#64,L38 .dbline 140 ldy #0x1020 bclr 0,y,#0x40 .dbline 141 ldy #0x1020 bset 0,y,#128 .dbline 142 ldy #_duty_cycle jsr __ly2reg2 ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 143 bra L39 L38: .dbline 147 ldy #0x1020 bset 0,y,#192 .dbline 148 ldy #_period jsr __ly2reg ldy #_duty_cycle jsr __ly2reg2 jsr __lsub jsr __lregmov ; vol ldd 0x1018 jsr __ud2lreg jsr __ladd jsr __lreg2d std 0x1018 .dbline 149 L39: .dbline 150 L37: L34: .dbline 153 ldy #0x1023 bclr 0,y,#0xbf .dbline 154 L32: inx inx txs pulx rti ; IX -> 0,x _RTI_isr:: .dbfunc RTI_isr .dbline 158 ; void RTI_isr(void) ; { ; printf("%d\n", valve_sensor); ldd #1 jsr _analog pshb psha ldd #L41 jsr _printf puly .dbline 159 ; CLEAR_FLAG(TFLG2, 0x40); ldy #0x1025 bclr 0,y,#0xbf .dbline 160 ; } L40: rti ; IX -> 0,x _TOF_isr:: .dbfunc TOF_isr .dbline 164 ; ; void TOF_isr(void) ; { ; CLEAR_FLAG(TFLG1, 0x80); ldy #0x1023 bclr 0,y,#0x7f .dbline 165 ; } L42: rti .area bss _gain:: .blkb 2 _period:: .blkb 4 _duty_cycle:: .blkb 4 _timertjp:: .blkb 2 _days:: .blkb 2 _hours:: .blkb 2 _minutes:: .blkb 2 _seconds:: .blkb 2 _msec:: .blkb 2 .area text L41: .byte 37,'d,10,0 L35: .word 0,100 L31: .byte 'E,'n,'d,32,'o,'f,32,'I,'n,'i,'t,32,'p,'u,'l,'s .byte 'e,10,10,0 L22: .byte 10,'E,'n,'t,'e,'r,32,'d,'u,'t,'y,32,'c,'y,'c,'l .byte 'e,32,'i,'n,32,'e,'l,'c,'o,'c,'k,'s,32,47,32,49 .byte 48,48,48,46,10,0 L21: .byte 10,'E,'n,'t,'e,'r,32,'p,'e,'r,'i,'o,'d,32,'i,'n .byte 32,'e,32,'c,'l,'o,'c,'k,'s,32,47,32,49,48,48,48 .byte 46,10,0 L20: .byte 'P,'N,'E,'U,'M,'A,'T,'I,'C,32,'V,'E,'L,'O,'C,'I .byte 'T,'Y,32,'T,'E,'S,'T,'P,'R,'O,'G,'R,'A,'M,10,10 .byte 0 L19: .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,'M,'a,'r,'c,'h,44,32,50,48,48,48,10 .byte 9,'V,'e,'r,'s,'i,'o,'n,9,9,49,10,10,0