From: Walter Fetter Lages Date: Sun, 20 May 2018 05:21:20 +0000 (-0300) Subject: Add PID to run on AIC. X-Git-Tag: v1.4.1^0 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=4f4589e026382df99d722b376ec54470669b9d1e;p=aic.git Add PID to run on AIC. --- diff --git a/Changes b/Changes index 0edc0ef..a1474cd 100644 --- a/Changes +++ b/Changes @@ -1,3 +1,9 @@ +2005.01.06 Criada versao 1.4.1 + +2004.12.05 Corrigido bug nas inicializacao das classes AIC_CAN e + AIC_HOST_CAN que violava o padrao ISO C++ e impedia estas + classes de serem compiladas com o g++ 3.4.3. + 2004.11.29 Criada versao 1.4.0 2004.09.28 Alterados os nomes das classes utilizadas para sinalizar diff --git a/Makefile b/Makefile index d9f8ca6..0d112af 100644 --- a/Makefile +++ b/Makefile @@ -9,6 +9,7 @@ PACKAGES= doc \ JointTest \ MotorReset \ MotorTest \ + PIDDaemon \ StrobeTest \ aicd \ braketst \ diff --git a/PID/Makefile b/PID/Makefile new file mode 100644 index 0000000..f801da0 --- /dev/null +++ b/PID/Makefile @@ -0,0 +1,44 @@ +CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar +APIDBPATH=-d /opt/tini/bin/tini.db +TINIRTAIPATH=${HOME}/src/tini/rtai +LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar +JAVAFLAGS=-O -target 1.1 -source 1.3 +ASMINC=-I/opt/tini/native/lib +ASMOPT=-f 1.15 -p 390 -l +ASMMACRO=/opt/tini/native/bin/Linux/macro +ASM=/opt/tini/native/bin/Linux/a390 +CC=sdcc +CFLAGS=-mTININative -S --use-accelerator +CINCLUDE=-I${TINIRTAIPATH}/include +CMPFLAGS=${CFLAGS} ${CINCLUDE} + +all: PID.tini + +PID.class: PID.java + javac ${CLASSPATH} ${JAVAFLAGS} PID.java + +pid.mpp: pid.a51 + ${ASMMACRO} ${ASMINC} -e- pid.a51 + +globals.mpp: globals.a51 + ${ASMMACRO} ${ASMINC} globals.a51 + +pid.tlib: pid.mpp globals.mpp + cat pid.mpp globals.a51 > tmp.mpp + ${ASM} ${ASMOPT} tmp.mpp + mv tmp.tlib pid.tlib + mv tmp.lst pid.lst + +pid.a51: pid.c + ${CC} ${CMPFLAGS} pid.c + +PID.tini: PID.class pid.tlib + java ${CLASSPATH} TINIConvertor -n pid.tlib -f PID.class ${APIDBPATH} -o PID.tini + + +clean: + rm -f *.bak *~ PID.class pid.tlib pid.mpp pid.lst pid.a51 globals.mpp tmp.mpp tmp.lst + +distclean: clean + rm -f PID.tini + diff --git a/PID/PID.java b/PID/PID.java new file mode 100644 index 0000000..5771b2a --- /dev/null +++ b/PID/PID.java @@ -0,0 +1,79 @@ +/****************************************************************************** + + Actuator Interface Card + PID + User Interface Module + Copyright (C) 2005 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*******************************************************************************/ + +import com.dalsemi.system.*; + +public class PID +{ + public static native int startRealtime(int period); + public static native void stopRealtime(); + public static native void setReference(float reference); + public static native float getOutput(); + + public static void main(String[] args) + { + System.out.println("PID"); + System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); + + int tfms=0; + if(args.length==1) + { + tfms=Integer.parseInt(args[0]); + } + else + { + System.out.println("Usage:\tPID ms"); + System.exit(1); + } + + System.out.print("Loading native library..."); + System.loadLibrary("pid.tlib"); + System.out.println("done."); + + int us=10000; + System.out.print("Starting real-time timer with "+us+" us period..."); + int period=startRealtime(us); + System.out.println("done."); + System.out.println("Effective period: "+period+" us."); + + System.out.println("Running PID for "+tfms+" ms..."); + long t0=TINIOS.uptimeMillis(); + long t=0; + while(t <= tfms) + { + t=TINIOS.uptimeMillis()-t0; + System.out.print("t="+t+" ms"); + float ref=((float)t)/2; + setReference(ref); + System.out.println("\treference="+ref+"\toutput="+getOutput()); + } + System.out.println("...done."); + + System.out.print("Stoping real-time timer..."); + stopRealtime(); + System.out.println("done."); + } +} diff --git a/PID/globals.a51 b/PID/globals.a51 new file mode 100644 index 0000000..bf5b08d --- /dev/null +++ b/PID/globals.a51 @@ -0,0 +1,31 @@ +;****************************************************************************** +; +; Actuator Interface Card +; PID +; Real Time Module Global Variables +; Copyright (C) 2005 Walter Fetter Lages +; +; This program is free software; you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation; either version 2 of the License, or +; (at your option) any later version. +; +; This program is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with this program; if not, write to the Free Software +; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +; +; You can also obtain a copy of the GNU General Public License +; at . +; +;*******************************************************************************/ + + +output: db 0,0,0,0 +th: db 0,0 +reference: db 0,0,0,0 + end diff --git a/PID/globals.mpp b/PID/globals.mpp new file mode 100644 index 0000000..18f29e4 --- /dev/null +++ b/PID/globals.mpp @@ -0,0 +1,35 @@ +$BEGIN_MODULE(globals) +; DEFAULTING TO A390 MODE +;****************************************************************************** +; +; Actuator Interface Card +; PID +; Real Time Module Global Variables +; Copyright (C) 2005 Walter Fetter Lages +; +; This program is free software; you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation; either version 2 of the License, or +; (at your option) any later version. +; +; This program is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with this program; if not, write to the Free Software +; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +; +; You can also obtain a copy of the GNU General Public License +; at . +; +;*******************************************************************************/ + + +output: db 0, 0, 0, 0 +th: db 0, 0 +reference: db 0, 0, 0, 0 + +$END_MODULE +end diff --git a/PID/pid.a51 b/PID/pid.a51 new file mode 100644 index 0000000..0b34f21 --- /dev/null +++ b/PID/pid.a51 @@ -0,0 +1,365 @@ +;-------------------------------------------------------- +; File Created by SDCC : FreeWare ANSI-C Compiler +; Version 2.4.7 #924 (Jan 11 2005) +; This file generated Thu Jun 2 17:33:28 2005 +;-------------------------------------------------------- + ; .file "pid.c" + +$include(tini.inc) +$include(ds80c390.inc) +$include(tinimacro.inc) +$include(apiequ.inc) +_bpx EQU 01Eh ; _bpx (frame pointer) mapped to R8_B3:R7_B3 +_ap EQU 01Dh ; _ap mapped to R6_B3 +Lib_Native_Init: + clr a + ret +LibraryID: + db "DS" + db 0,0,0,0,0,1 +;-------------------------------------------------------- +; Public variables in this module +;-------------------------------------------------------- + ; .globl Native_setReference + ; .globl Native_getOutput + ; .globl Native_stopRealtime + ; .globl Native_startRealtime +;-------------------------------------------------------- +; ram data +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; overlayable items in ram +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; external initialized ram data +;-------------------------------------------------------- +;-------------------------------------------------------- +; global & static initialisations +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; Home +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; code +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_startRealtime' +;------------------------------------------------------------ +;period Allocated to stack - offset 1 +;------------------------------------------------------------ +; pid.c:31: long Native_startRealtime(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_startRealtime +; ----------------------------------------- +Native_startRealtime: + ar2 equ 002h + ar3 equ 003h + ar4 equ 004h + ar5 equ 005h + ar6 equ 006h + ar7 equ 007h + ar0 equ 000h + ar1 equ 001h + push _bpx + push _bpx+1 + mov _bpx,sp + mov _bpx+1,esp + anl _bpx+1,#3 + push acc + push acc + push acc + push acc +; pid.c:33: volatile long period = NatLib_LoadInt(0); + mov a,#000h + lcall NatLib_LoadPrimitive + push ar3 + push ar2 + push ar1 + push ar0 + pop ar2 + pop ar3 + pop ar4 + pop ar5 +; genAssign +; genAssign: resultIsFar = TRUE + mov dpx,#040h + mov dph,_bpx+1 + mov dpl,_bpx + inc dptr + mov a,r2 + movx @dptr,a + inc dptr + mov a,r3 + movx @dptr,a + inc dptr + mov a,r4 + movx @dptr,a + inc dptr + mov a,r5 + movx @dptr,a +; pid.c:59: _endasm; +; genInline + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + mov dps,#1 + mov dptr,#controller + mov a,#2bh ; timer 2 + call System_InstallInterrupt + mov dps,#00h + anl CKCON,#0dfh ; clear T2M = timer 2 uses clock/12 + mov T2MOD,#00h ; clear DCEN = counts up only +; TINI oscillator is 18432000 => counter=0c400h=100Hz + mov RCAP2L,#00h ; count reload LSB + mov TL2,#00h ; count LSB + mov RCAP2H,#0c4h ; count reload MSB + mov TH2,#0c4h ; count MSB + orl IP,#20h ; set PT2 = set timer 2 interrupt to high priority + orl IE,#20h ; set ET2 = enable timer 2 interrupt + mov T2CON,#04h ; set TR2 = enable timer 2 +; pid.c:61: return period; +; genRet + mov dpx1,#040h + mov dph1,_bpx+1 + mov dpl1,_bpx +; Peephole 220a removed bogus DPS set +; Peephole 220d removed bogus DPS set + mov dps,#1 + inc dptr + xch a, _ap + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r0,_ap + mov dps,#1 + xch a, _ap + inc dptr + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r1,_ap + mov dps,#1 + xch a, _ap + inc dptr + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r2,_ap + mov dps,#1 + xch a, _ap + inc dptr + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r3,_ap +; genLabel +L00101: +; genEndFunction + mov sp,_bpx + mov esp,_bpx+1 + pop _bpx+1 + pop _bpx + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_stopRealtime' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:65: void Native_stopRealtime(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_stopRealtime +; ----------------------------------------- +Native_stopRealtime: +; pid.c:71: _endasm; +; genInline + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + anl IP,#0dfh ; clear PT2 = set timer 2 interrupt to normal priority +; genLabel +L00103: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'int2ack' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:74: static void int2ack(void) +; genFunction +; ----------------------------------------- +; function int2ack +; ----------------------------------------- +int2ack: +; pid.c:78: _endasm; +; genInline + anl T2CON,#7fh ; clear TF2 = clears timer 2 overflow +; genLabel +L00105: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'controller' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:81: static void controller(void) interrupt +; genFunction +; ----------------------------------------- +; function controller +; ----------------------------------------- +controller: + push acc + push b + push dpl + push dph + push dpx + push dps + mov dps,#0 + push dpl1 + push dph1 + push dpx1 + push _ap + push (0+2) + push (0+3) + push (0+4) + push (0+5) + push (0+6) + push (0+7) + push (0+0) + push (0+1) + push psw + mov psw,#000h +; pid.c:83: int2ack(); +; genCall + lcall int2ack +; pid.c:85: output=reference; +; genAssign + mov dptr,#reference +; genAssign: resultIsFar = TRUE +; genFarFarAssign (390 auto-toggle fun) + mov dps,#021h + mov dptr,#output + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + mov dps,#0 +; genLabel +L00107: +; genEndFunction + pop psw + pop (0+1) + pop (0+0) + pop (0+7) + pop (0+6) + pop (0+5) + pop (0+4) + pop (0+3) + pop (0+2) + pop _ap + pop dpx1 + pop dph1 + pop dpl1 + pop dps + pop dpx + pop dph + pop dpl + pop b + pop acc + reti +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_getOutput' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:89: float Native_getOutput(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_getOutput +; ----------------------------------------- +Native_getOutput: +; pid.c:91: return output; +; genRet +; Peephole 220a removed bogus DPS set + mov dps, #1 + mov dptr, #output + xch a, _ap + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r0,_ap + mov dps,#1 + xch a, _ap + inc dptr + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r1,_ap + mov dps,#1 + xch a, _ap + inc dptr + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r2,_ap + mov dps,#1 + xch a, _ap + inc dptr + movx a,@dptr + mov dps,#0 + xch a, _ap + mov r3,_ap +; genLabel +L00109: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_setReference' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:95: void Native_setReference(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_setReference +; ----------------------------------------- +Native_setReference: +; pid.c:118: _endasm; +; genInline + clr a + lcall Natlib_LoadPrimitive ; get parameter in R3: +2: +1: + 0 + mov dptr,#reference + mov a,r0 + movx @dptr,a + inc dptr + mov a,r1 + movx @dptr,a + inc dptr + mov a,r2 + movx @dptr,a + inc dptr + mov a,r3 + movx @dptr,a +; genLabel +L00111: +; genEndFunction + ret + ; SECTION NOT SUPPORTED + end diff --git a/PID/pid.c b/PID/pid.c new file mode 100644 index 0000000..c27d19c --- /dev/null +++ b/PID/pid.c @@ -0,0 +1,119 @@ +/****************************************************************************** + + Actuator Interface Card + PID + Real Time Module + Copyright (C) 2005 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*******************************************************************************/ + +extern volatile float output; +extern volatile float reference; + +/* public static native int startRealtime(int period) */ +long Native_startRealtime(void) _JavaNative +{ + volatile long period = NatLib_LoadInt(0); + + _asm + + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + + mov dps,#1 + mov dptr,#controller + mov a,#2bh ; timer 2 + call System_InstallInterrupt + mov dps,#00h + + anl CKCON,#0dfh ; clear T2M = timer 2 uses clock/12 + mov T2MOD,#00h ; clear DCEN = counts up only + +; TINI oscillator is 18432000 => counter=0c400h=100Hz + mov RCAP2L,#00h ; count reload LSB + mov TL2,#00h ; count LSB + mov RCAP2H,#0c4h ; count reload MSB + mov TH2,#0c4h ; count MSB + + orl IP,#20h ; set PT2 = set timer 2 interrupt to high priority + orl IE,#20h ; set ET2 = enable timer 2 interrupt + + mov T2CON,#04h ; set TR2 = enable timer 2 + _endasm; + + return period; +} + +/* public static native void stopRealtime() */ +void Native_stopRealtime(void) _JavaNative +{ + _asm + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + anl IP,#0dfh ; clear PT2 = set timer 2 interrupt to normal priority + _endasm; +} + +static void int2ack(void) +{ + _asm + anl T2CON,#7fh ; clear TF2 = clears timer 2 overflow + _endasm; +} + +static void controller(void) interrupt +{ + int2ack(); + + output=reference; +} + +/* public static native float getOutput() */ +float Native_getOutput(void) _JavaNative +{ + return output; +} + +/* public static native void setReference(float reference) */ +void Native_setReference(void) _JavaNative +{ + +/* + volatile long ref =NatLib_LoadInt(0); + reference=*((float *) &ref); +*/ + + _asm + clr a + lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 + mov dptr,#reference + mov a,r0 + movx @dptr,a + inc dptr + mov a,r1 + movx @dptr,a + inc dptr + mov a,r2 + movx @dptr,a + inc dptr + mov a,r3 + movx @dptr,a + _endasm; +} diff --git a/PID/pid.lst b/PID/pid.lst new file mode 100644 index 0000000..2017dca --- /dev/null +++ b/PID/pid.lst @@ -0,0 +1,512 @@ + + ; DEFAULTING TO A390 MODE + ;-------------------------------------------------------- + ; File Created by SDCC : FreeWare ANSI-C Compiler + ; Version 2.4.7 #924 (Jan 11 2005) + ; This file generated Thu Jun 2 17:33:28 2005 + ;-------------------------------------------------------- + ; .file "pid.c" + + $include(tini.inc) + $include(ds80c390.inc) + $include(tinimacro.inc) + $include(apiequ.inc) + ; _bpx (frame pointer) mapped to R8_B3:R7_ + ; _ap mapped to R6_B3 + Lib_Native_Init: +00000F: E4 clr a +000010: 22 ret + LibraryID: +000011: 44 53 db "DS" +000013: 00 00 00 00 + 00 01 db 0, 0, 0, 0, 0, 1 + ;-------------------------------------------------------- + ; Public variables in this module + ;-------------------------------------------------------- + ; .globl Native_setReference + ; .globl Native_getOutput + ; .globl Native_stopRealtime + ; .globl Native_startRealtime + ;-------------------------------------------------------- + ; ram data + ;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ;-------------------------------------------------------- + ; overlayable items in ram + ;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ;-------------------------------------------------------- + ; external initialized ram data + ;-------------------------------------------------------- + ;-------------------------------------------------------- + ; global & static initialisations + ;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED + ;-------------------------------------------------------- + ; Home + ;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED + ;-------------------------------------------------------- + ; code + ;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ;---------------------------------------------------------- + ;Allocation info for local variables in function 'Native_st + ;---------------------------------------------------------- + ;period Allocated to stack - offset 1 + ;---------------------------------------------------------- + ; pid.c:31: long Native_startRealtime(void) _JavaNat + ; genFunction + ; ----------------------------------------- + ; function Native_startRealtime + ; ----------------------------------------- + Native_startRealtime: + + + + + + + + +000019: C0 1E push 01Eh +00001B: C0 1F push 01Fh +00001D: 85 81 1E mov 01Eh,sp +000020: 85 9B 1F mov 01Fh,09Bh +000023: 53 1F 03 anl 01Fh,#03h +000026: C0 E0 push 0E0h +000028: C0 E0 push 0E0h +00002A: C0 E0 push 0E0h +00002C: C0 E0 push 0E0h + ; pid.c:33: volatile long period = NatLib_LoadInt(0) +00002E: 74 00 mov a,#00h +000030: 12 02 9A 28 lcall 029A28h +000034: C0 03 push 03h +000036: C0 02 push 02h +000038: C0 01 push 01h +00003A: C0 00 push 00h +00003C: D0 02 pop 02h +00003E: D0 03 pop 03h +000040: D0 04 pop 04h +000042: D0 05 pop 05h + ; genAssign + ; genAssign: resultIsFar = TRUE +000044: 75 93 40 mov 093h,#040h +000047: 85 1F 83 mov dph,01Fh +00004A: 85 1E 82 mov dpl,01Eh +00004D: A3 inc dptr +00004E: EA mov a,r2 +00004F: F0 movx @dptr,a +000050: A3 inc dptr +000051: EB mov a,r3 +000052: F0 movx @dptr,a +000053: A3 inc dptr +000054: EC mov a,r4 +000055: F0 movx @dptr,a +000056: A3 inc dptr +000057: ED mov a,r5 +000058: F0 movx @dptr,a + ; pid.c:59: _endasm; + ; genInline +000059: 75 C8 00 mov 0C8h,#00h ; clear TR2 = disable timer +00005C: 53 A8 DF anl 0A8h,#0DFh ; clear ET2 = disable timer +00005F: 75 86 01 mov 086h,#01h +000062: 90 00 00 E4 mov dptr,#controller +000066: 74 2B mov a,#02Bh ; timer 2 +000068: 12 00 E0 47 call 0E047h +00006C: 75 86 00 mov 086h,#00h +00006F: 53 8E DF anl 08Eh,#0DFh ; clear T2M = timer 2 uses +000072: 75 C9 00 mov 0C9h,#00h ; clear DCEN = counts up onl + ; TINI oscillator is 18432000 => counter=0c400h=100Hz +000075: 75 CA 00 mov 0CAh,#00h ; count reload LSB +000078: 75 CC 00 mov 0CCh,#00h ; count LSB +00007B: 75 CB C4 mov 0CBh,#0C4h ; count reload MSB +00007E: 75 CD C4 mov 0CDh,#0C4h ; count MSB +000081: 43 B8 20 orl 0B8h,#020h ; set PT2 = set timer 2 int +000084: 43 A8 20 orl 0A8h,#020h ; set ET2 = enable timer 2 +000087: 75 C8 04 mov 0C8h,#04h ; set TR2 = enable timer 2 + ; pid.c:61: return period; + ; genRet +00008A: 75 95 40 mov 095h,#040h +00008D: 85 1F 85 mov 085h,01Fh +000090: 85 1E 84 mov 084h,01Eh + ; Peephole 220a removed bogus DPS set + ; Peephole 220d removed bogus DPS set +000093: 75 86 01 mov 086h,#01h +000096: A3 inc dptr +000097: C5 1D xch a,01Dh +000099: E0 movx a,@dptr +00009A: 75 86 00 mov 086h,#00h +00009D: C5 1D xch a,01Dh +00009F: A8 1D mov r0,01Dh +0000A1: 75 86 01 mov 086h,#01h +0000A4: C5 1D xch a,01Dh +0000A6: A3 inc dptr +0000A7: E0 movx a,@dptr +0000A8: 75 86 00 mov 086h,#00h +0000AB: C5 1D xch a,01Dh +0000AD: A9 1D mov r1,01Dh +0000AF: 75 86 01 mov 086h,#01h +0000B2: C5 1D xch a,01Dh +0000B4: A3 inc dptr +0000B5: E0 movx a,@dptr +0000B6: 75 86 00 mov 086h,#00h +0000B9: C5 1D xch a,01Dh +0000BB: AA 1D mov r2,01Dh +0000BD: 75 86 01 mov 086h,#01h +0000C0: C5 1D xch a,01Dh +0000C2: A3 inc dptr +0000C3: E0 movx a,@dptr +0000C4: 75 86 00 mov 086h,#00h +0000C7: C5 1D xch a,01Dh +0000C9: AB 1D mov r3,01Dh + ; genLabel + L00101: + ; genEndFunction +0000CB: 85 1E 81 mov sp,01Eh +0000CE: 85 1F 9B mov 09Bh,01Fh +0000D1: D0 1F pop 01Fh +0000D3: D0 1E pop 01Eh +0000D5: 22 ret + ;---------------------------------------------------------- + ;Allocation info for local variables in function 'Native_st + ;---------------------------------------------------------- + ;---------------------------------------------------------- + ; pid.c:65: void Native_stopRealtime(void) _JavaNati + ; genFunction + ; ----------------------------------------- + ; function Native_stopRealtime + ; ----------------------------------------- + Native_stopRealtime: + ; pid.c:71: _endasm; + ; genInline +0000D6: 75 C8 00 mov 0C8h,#00h ; clear TR2 = disable timer +0000D9: 53 A8 DF anl 0A8h,#0DFh ; clear ET2 = disable timer +0000DC: 53 B8 DF anl 0B8h,#0DFh ; clear PT2 = set timer 2 i + ; genLabel + L00103: + ; genEndFunction +0000DF: 22 ret + ;---------------------------------------------------------- + ;Allocation info for local variables in function 'int2ack' + ;---------------------------------------------------------- + ;---------------------------------------------------------- + ; pid.c:74: static void int2ack(void) + ; genFunction + ; ----------------------------------------- + ; function int2ack + ; ----------------------------------------- + int2ack: + ; pid.c:78: _endasm; + ; genInline +0000E0: 53 C8 7F anl 0C8h,#07Fh ; clear TF2 = clears timer + ; genLabel + L00105: + ; genEndFunction +0000E3: 22 ret + ;---------------------------------------------------------- + ;Allocation info for local variables in function 'controlle + ;---------------------------------------------------------- + ;---------------------------------------------------------- + ; pid.c:81: static void controller(void) interrupt + ; genFunction + ; ----------------------------------------- + ; function controller + ; ----------------------------------------- + controller: +0000E4: C0 E0 push 0E0h +0000E6: C0 F0 push b +0000E8: C0 82 push dpl +0000EA: C0 83 push dph +0000EC: C0 93 push 093h +0000EE: C0 86 push 086h +0000F0: 75 86 00 mov 086h,#00h +0000F3: C0 84 push 084h +0000F5: C0 85 push 085h +0000F7: C0 95 push 095h +0000F9: C0 1D push 01Dh +0000FB: C0 02 push 02h +0000FD: C0 03 push 03h +0000FF: C0 04 push 04h +000101: C0 05 push 05h +000103: C0 06 push 06h +000105: C0 07 push 07h +000107: C0 00 push 00h +000109: C0 01 push 01h +00010B: C0 D0 push 0D0h +00010D: 75 D0 00 mov 0D0h,#00h + ; pid.c:83: int2ack(); + ; genCall +000110: 12 00 00 E0 lcall int2ack + ; pid.c:85: output=reference; + ; genAssign +000114: 90 00 01 AE mov dptr,#reference + ; genAssign: resultIsFar = TRUE + ; genFarFarAssign (390 auto-toggle fun) +000118: 75 86 21 mov 086h,#021h +00011B: 90 00 01 A8 mov dptr,#output +00011F: E0 movx a,@dptr +000120: F0 movx @dptr,a +000121: A3 inc dptr +000122: A3 inc dptr +000123: E0 movx a,@dptr +000124: F0 movx @dptr,a +000125: A3 inc dptr +000126: A3 inc dptr +000127: E0 movx a,@dptr +000128: F0 movx @dptr,a +000129: A3 inc dptr +00012A: A3 inc dptr +00012B: E0 movx a,@dptr +00012C: F0 movx @dptr,a +00012D: 75 86 00 mov 086h,#00h + ; genLabel + L00107: + ; genEndFunction +000130: D0 D0 pop 0D0h +000132: D0 01 pop 01h +000134: D0 00 pop 00h +000136: D0 07 pop 07h +000138: D0 06 pop 06h +00013A: D0 05 pop 05h +00013C: D0 04 pop 04h +00013E: D0 03 pop 03h +000140: D0 02 pop 02h +000142: D0 1D pop 01Dh +000144: D0 95 pop 095h +000146: D0 85 pop 085h +000148: D0 84 pop 084h +00014A: D0 86 pop 086h +00014C: D0 93 pop 093h +00014E: D0 83 pop dph +000150: D0 82 pop dpl +000152: D0 F0 pop b +000154: D0 E0 pop 0E0h +000156: 32 reti + ;---------------------------------------------------------- + ;Allocation info for local variables in function 'Native_ge + ;---------------------------------------------------------- + ;---------------------------------------------------------- + ; pid.c:89: float Native_getOutput(void) _JavaNative + ; genFunction + ; ----------------------------------------- + ; function Native_getOutput + ; ----------------------------------------- + Native_getOutput: + ; pid.c:91: return output; + ; genRet + ; Peephole 220a removed bogus DPS set +000157: 75 86 01 mov 086h,#01h +00015A: 90 00 01 A8 mov dptr,#output +00015E: C5 1D xch a,01Dh +000160: E0 movx a,@dptr +000161: 75 86 00 mov 086h,#00h +000164: C5 1D xch a,01Dh +000166: A8 1D mov r0,01Dh +000168: 75 86 01 mov 086h,#01h +00016B: C5 1D xch a,01Dh +00016D: A3 inc dptr +00016E: E0 movx a,@dptr +00016F: 75 86 00 mov 086h,#00h +000172: C5 1D xch a,01Dh +000174: A9 1D mov r1,01Dh +000176: 75 86 01 mov 086h,#01h +000179: C5 1D xch a,01Dh +00017B: A3 inc dptr +00017C: E0 movx a,@dptr +00017D: 75 86 00 mov 086h,#00h +000180: C5 1D xch a,01Dh +000182: AA 1D mov r2,01Dh +000184: 75 86 01 mov 086h,#01h +000187: C5 1D xch a,01Dh +000189: A3 inc dptr +00018A: E0 movx a,@dptr +00018B: 75 86 00 mov 086h,#00h +00018E: C5 1D xch a,01Dh +000190: AB 1D mov r3,01Dh + ; genLabel + L00109: + ; genEndFunction +000192: 22 ret + ;---------------------------------------------------------- + ;Allocation info for local variables in function 'Native_se + ;---------------------------------------------------------- + ;---------------------------------------------------------- + ; pid.c:95: void Native_setReference(void) _JavaNati + ; genFunction + ; ----------------------------------------- + ; function Native_setReference + ; ----------------------------------------- + Native_setReference: + ; pid.c:118: _endasm; + ; genInline +000193: E4 clr a +000194: 12 02 9A 28 lcall 029A28h ; get parameter in R3: + + + +000198: 90 00 01 AE mov dptr,#reference +00019C: E8 mov a,r0 +00019D: F0 movx @dptr,a +00019E: A3 inc dptr +00019F: E9 mov a,r1 +0001A0: F0 movx @dptr,a +0001A1: A3 inc dptr +0001A2: EA mov a,r2 +0001A3: F0 movx @dptr,a +0001A4: A3 inc dptr +0001A5: EB mov a,r3 +0001A6: F0 movx @dptr,a + ; genLabel + L00111: + ; genEndFunction +0001A7: 22 ret + ; SECTION NOT SUPPORTED + + + ;Comment Inserted By Macro Preprocessor - end + ;********************************************************** + ; + ; Actuator Interface Card + ; PID + ; Real Time Module Global Variables + ; Copyright (C) 2005 Walter Fetter Lages . + ; + ;********************************************************** + + +0001A8: 00 00 00 00 output: db 0,0,0,0 +0001AC: 00 00 th: db 0,0 +0001AE: 00 00 00 00 reference: db 0,0,0,0 +0001B2: end + + +Code Statistics (count): +======================== + +The following section is included to detect operations +that consume more code space than necessary. + +Optimizations recommended: +lcalls -> acalls (within 512k boundaries) +ljmps -> ajmps (within 512k boundaries) +mov a, #0 -> clr a +xrl a, #0 -> REMOVE, DOES NOTHING USEFUL +xrl a, #0ffh -> cpl a + + +Module Statistics: code bytes, lcalls, ljmps, mov a, #0, xrl a, #0, xrl a, #0ffh +================================================================================= + pid: 0, 4, 0, 1, 0, 0 + ----------------------------------------------------------- + Total: 0, 4, 0, 1, 0, 0 + + +Symbols (hex value: decimal value): +================================ + OUTPUT: 0x0001A8: 424 + ET0: 0x0000A9: 169 + ET1: 0x0000AB: 171 + ET2: 0x0000AD: 173 + B: 0x0000F0: 240 + P: 0x0000D0: 208 + IT0: 0x000088: 136 + IT1: 0x00008A: 138 + RB8: 0x00009A: 154 + AC: 0x0000D6: 214 + TMOD: 0x000089: 137 + EX0: 0x0000A8: 168 + EX1: 0x0000AA: 170 + CY: 0x0000D7: 215 + F0: 0x0000D5: 213 + EA: 0x0000AF: 175 + REN: 0x00009C: 156 + PCON: 0x000087: 135 + ES: 0x0000AC: 172 + IE: 0x0000A8: 168 + IP: 0x0000B8: 184 + RL2: 0x0000C8: 200 + SBUF: 0x000099: 153 + CONTROLLER: 0x0000E4: 228 + RCLK: 0x0000CD: 205 + T2CON: 0x0000C8: 200 + EXF2: 0x0000CE: 206 + P0: 0x000080: 128 + P1: 0x000090: 144 + P2: 0x0000A0: 160 + P3: 0x0000B0: 176 + OV: 0x0000D2: 210 + PS: 0x0000BC: 188 + RS0: 0x0000D3: 211 + RS1: 0x0000D4: 212 + RI: 0x000098: 152 + EXEN2: 0x0000CB: 203 + SP: 0x000081: 129 + TH: 0x0001AC: 428 + TI: 0x000099: 153 + INT2ACK: 0x0000E0: 224 + NATIVE_GETOUTPUT: 0x000157: 343 + SCON: 0x000098: 152 + L00101: 0x0000CB: 203 + L00103: 0x0000DF: 223 + L00105: 0x0000E3: 227 + NATIVE_STARTREALTIME: 0x000019: 25 + L00107: 0x000130: 304 + L00109: 0x000192: 402 + NATIVE_STOPREALTIME: 0x0000D6: 214 + L00111: 0x0001A7: 423 + TCLK: 0x0000CC: 204 + SM0: 0x00009F: 159 + SM1: 0x00009E: 158 + SM2: 0x00009D: 157 + TCON: 0x000088: 136 + NATIVE_SETREFERENCE: 0x000193: 403 + TB8: 0x00009B: 155 + REFERENCE: 0x0001AE: 430 + TF0: 0x00008D: 141 + TF1: 0x00008F: 143 + TF2: 0x0000CF: 207 + TH0: 0x00008C: 140 + TH1: 0x00008D: 141 + TH2: 0x0000CD: 205 + LIBRARYID: 0x000011: 17 + RCAP2H: 0x0000CB: 203 + RCAP2L: 0x0000CA: 202 + DPH: 0x000083: 131 + DPL: 0x000082: 130 + TL0: 0x00008A: 138 + TL1: 0x00008B: 139 + TL2: 0x0000CC: 204 + ACC: 0x0000E0: 224 + LIB_NATIVE_INIT: 0x00000F: 15 + IE0: 0x000089: 137 + IE1: 0x00008B: 139 + TR0: 0x00008C: 140 + TR1: 0x00008E: 142 + TR2: 0x0000CA: 202 + PT0: 0x0000B9: 185 + PT1: 0x0000BB: 187 + PT2: 0x0000BD: 189 + PSW: 0x0000D0: 208 + PX0: 0x0000B8: 184 + PX1: 0x0000BA: 186 diff --git a/PID/pid.mpp b/PID/pid.mpp new file mode 100644 index 0000000..7c879c5 --- /dev/null +++ b/PID/pid.mpp @@ -0,0 +1,369 @@ +$BEGIN_MODULE(pid) +; DEFAULTING TO A390 MODE +;-------------------------------------------------------- +; File Created by SDCC : FreeWare ANSI-C Compiler +; Version 2.4.7 #924 (Jan 11 2005) +; This file generated Thu Jun 2 17:33:28 2005 +;-------------------------------------------------------- + ; .file "pid.c" + +$include(tini.inc) +$include(ds80c390.inc) +$include(tinimacro.inc) +$include(apiequ.inc) + ; _bpx (frame pointer) mapped to R8_B3:R7_B3 + ; _ap mapped to R6_B3 +Lib_Native_Init: + clr a + ret +LibraryID: + db "DS" + db 0, 0, 0, 0, 0, 1 +;-------------------------------------------------------- +; Public variables in this module +;-------------------------------------------------------- + ; .globl Native_setReference + ; .globl Native_getOutput + ; .globl Native_stopRealtime + ; .globl Native_startRealtime +;-------------------------------------------------------- +; ram data +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; overlayable items in ram +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; external initialized ram data +;-------------------------------------------------------- +;-------------------------------------------------------- +; global & static initialisations +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; Home +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; code +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_startRealtime' +;------------------------------------------------------------ +;period Allocated to stack - offset 1 +;------------------------------------------------------------ +; pid.c:31: long Native_startRealtime(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_startRealtime +; ----------------------------------------- +Native_startRealtime: + + + + + + + + + push 01Eh + push 01Fh + mov 01Eh,sp + mov 01Fh,09Bh + anl 01Fh,#03h + push 0E0h + push 0E0h + push 0E0h + push 0E0h +; pid.c:33: volatile long period = NatLib_LoadInt(0); + mov a,#00h + lcall 029A28h + push 03h + push 02h + push 01h + push 00h + pop 02h + pop 03h + pop 04h + pop 05h +; genAssign +; genAssign: resultIsFar = TRUE + mov 093h,#040h + mov dph,01Fh + mov dpl,01Eh + inc dptr + mov a,r2 + movx @dptr,a + inc dptr + mov a,r3 + movx @dptr,a + inc dptr + mov a,r4 + movx @dptr,a + inc dptr + mov a,r5 + movx @dptr,a +; pid.c:59: _endasm; +; genInline + mov 0C8h,#00h ; clear TR2 = disable timer 2 + anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt + mov 086h,#01h + mov dptr,#controller + mov a,#02Bh ; timer 2 + call 0E047h + mov 086h,#00h + anl 08Eh,#0DFh ; clear T2M = timer 2 uses clock/12 + mov 0C9h,#00h ; clear DCEN = counts up only +; TINI oscillator is 18432000 => counter=0c400h=100Hz + mov 0CAh,#00h ; count reload LSB + mov 0CCh,#00h ; count LSB + mov 0CBh,#0C4h ; count reload MSB + mov 0CDh,#0C4h ; count MSB + orl 0B8h,#020h ; set PT2 = set timer 2 interrupt to high priority + orl 0A8h,#020h ; set ET2 = enable timer 2 interrupt + mov 0C8h,#04h ; set TR2 = enable timer 2 +; pid.c:61: return period; +; genRet + mov 095h,#040h + mov 085h,01Fh + mov 084h,01Eh +; Peephole 220a removed bogus DPS set +; Peephole 220d removed bogus DPS set + mov 086h,#01h + inc dptr + xch a,01Dh + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r0,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r1,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r2,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r3,01Dh +; genLabel +L00101: +; genEndFunction + mov sp,01Eh + mov 09Bh,01Fh + pop 01Fh + pop 01Eh + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_stopRealtime' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:65: void Native_stopRealtime(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_stopRealtime +; ----------------------------------------- +Native_stopRealtime: +; pid.c:71: _endasm; +; genInline + mov 0C8h,#00h ; clear TR2 = disable timer 2 + anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt + anl 0B8h,#0DFh ; clear PT2 = set timer 2 interrupt to normal priority +; genLabel +L00103: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'int2ack' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:74: static void int2ack(void) +; genFunction +; ----------------------------------------- +; function int2ack +; ----------------------------------------- +int2ack: +; pid.c:78: _endasm; +; genInline + anl 0C8h,#07Fh ; clear TF2 = clears timer 2 overflow +; genLabel +L00105: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'controller' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:81: static void controller(void) interrupt +; genFunction +; ----------------------------------------- +; function controller +; ----------------------------------------- +controller: + push 0E0h + push b + push dpl + push dph + push 093h + push 086h + mov 086h,#00h + push 084h + push 085h + push 095h + push 01Dh + push 02h + push 03h + push 04h + push 05h + push 06h + push 07h + push 00h + push 01h + push 0D0h + mov 0D0h,#00h +; pid.c:83: int2ack(); +; genCall + lcall int2ack +; pid.c:85: output=reference; +; genAssign + mov dptr,#reference +; genAssign: resultIsFar = TRUE +; genFarFarAssign (390 auto-toggle fun) + mov 086h,#021h + mov dptr,#output + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + mov 086h,#00h +; genLabel +L00107: +; genEndFunction + pop 0D0h + pop 01h + pop 00h + pop 07h + pop 06h + pop 05h + pop 04h + pop 03h + pop 02h + pop 01Dh + pop 095h + pop 085h + pop 084h + pop 086h + pop 093h + pop dph + pop dpl + pop b + pop 0E0h + reti +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_getOutput' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:89: float Native_getOutput(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_getOutput +; ----------------------------------------- +Native_getOutput: +; pid.c:91: return output; +; genRet +; Peephole 220a removed bogus DPS set + mov 086h,#01h + mov dptr,#output + xch a,01Dh + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r0,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r1,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r2,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r3,01Dh +; genLabel +L00109: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_setReference' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:95: void Native_setReference(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_setReference +; ----------------------------------------- +Native_setReference: +; pid.c:118: _endasm; +; genInline + clr a + lcall 029A28h ; get parameter in R3: + + + + mov dptr,#reference + mov a,r0 + movx @dptr,a + inc dptr + mov a,r1 + movx @dptr,a + inc dptr + mov a,r2 + movx @dptr,a + inc dptr + mov a,r3 + movx @dptr,a +; genLabel +L00111: +; genEndFunction + ret + ; SECTION NOT SUPPORTED + +$END_MODULE +;Comment Inserted By Macro Preprocessor - end diff --git a/PID/pid.tlib b/PID/pid.tlib new file mode 100644 index 0000000..103df45 Binary files /dev/null and b/PID/pid.tlib differ diff --git a/PID/tmp.mpp b/PID/tmp.mpp new file mode 100644 index 0000000..4d5f927 --- /dev/null +++ b/PID/tmp.mpp @@ -0,0 +1,400 @@ +$BEGIN_MODULE(pid) +; DEFAULTING TO A390 MODE +;-------------------------------------------------------- +; File Created by SDCC : FreeWare ANSI-C Compiler +; Version 2.4.7 #924 (Jan 11 2005) +; This file generated Thu Jun 2 17:33:28 2005 +;-------------------------------------------------------- + ; .file "pid.c" + +$include(tini.inc) +$include(ds80c390.inc) +$include(tinimacro.inc) +$include(apiequ.inc) + ; _bpx (frame pointer) mapped to R8_B3:R7_B3 + ; _ap mapped to R6_B3 +Lib_Native_Init: + clr a + ret +LibraryID: + db "DS" + db 0, 0, 0, 0, 0, 1 +;-------------------------------------------------------- +; Public variables in this module +;-------------------------------------------------------- + ; .globl Native_setReference + ; .globl Native_getOutput + ; .globl Native_stopRealtime + ; .globl Native_startRealtime +;-------------------------------------------------------- +; ram data +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; overlayable items in ram +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; external initialized ram data +;-------------------------------------------------------- +;-------------------------------------------------------- +; global & static initialisations +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; Home +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED + ; SECTION NOT SUPPORTED +;-------------------------------------------------------- +; code +;-------------------------------------------------------- + ; SECTION NOT SUPPORTED +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_startRealtime' +;------------------------------------------------------------ +;period Allocated to stack - offset 1 +;------------------------------------------------------------ +; pid.c:31: long Native_startRealtime(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_startRealtime +; ----------------------------------------- +Native_startRealtime: + + + + + + + + + push 01Eh + push 01Fh + mov 01Eh,sp + mov 01Fh,09Bh + anl 01Fh,#03h + push 0E0h + push 0E0h + push 0E0h + push 0E0h +; pid.c:33: volatile long period = NatLib_LoadInt(0); + mov a,#00h + lcall 029A28h + push 03h + push 02h + push 01h + push 00h + pop 02h + pop 03h + pop 04h + pop 05h +; genAssign +; genAssign: resultIsFar = TRUE + mov 093h,#040h + mov dph,01Fh + mov dpl,01Eh + inc dptr + mov a,r2 + movx @dptr,a + inc dptr + mov a,r3 + movx @dptr,a + inc dptr + mov a,r4 + movx @dptr,a + inc dptr + mov a,r5 + movx @dptr,a +; pid.c:59: _endasm; +; genInline + mov 0C8h,#00h ; clear TR2 = disable timer 2 + anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt + mov 086h,#01h + mov dptr,#controller + mov a,#02Bh ; timer 2 + call 0E047h + mov 086h,#00h + anl 08Eh,#0DFh ; clear T2M = timer 2 uses clock/12 + mov 0C9h,#00h ; clear DCEN = counts up only +; TINI oscillator is 18432000 => counter=0c400h=100Hz + mov 0CAh,#00h ; count reload LSB + mov 0CCh,#00h ; count LSB + mov 0CBh,#0C4h ; count reload MSB + mov 0CDh,#0C4h ; count MSB + orl 0B8h,#020h ; set PT2 = set timer 2 interrupt to high priority + orl 0A8h,#020h ; set ET2 = enable timer 2 interrupt + mov 0C8h,#04h ; set TR2 = enable timer 2 +; pid.c:61: return period; +; genRet + mov 095h,#040h + mov 085h,01Fh + mov 084h,01Eh +; Peephole 220a removed bogus DPS set +; Peephole 220d removed bogus DPS set + mov 086h,#01h + inc dptr + xch a,01Dh + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r0,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r1,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r2,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r3,01Dh +; genLabel +L00101: +; genEndFunction + mov sp,01Eh + mov 09Bh,01Fh + pop 01Fh + pop 01Eh + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_stopRealtime' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:65: void Native_stopRealtime(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_stopRealtime +; ----------------------------------------- +Native_stopRealtime: +; pid.c:71: _endasm; +; genInline + mov 0C8h,#00h ; clear TR2 = disable timer 2 + anl 0A8h,#0DFh ; clear ET2 = disable timer 2 interrupt + anl 0B8h,#0DFh ; clear PT2 = set timer 2 interrupt to normal priority +; genLabel +L00103: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'int2ack' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:74: static void int2ack(void) +; genFunction +; ----------------------------------------- +; function int2ack +; ----------------------------------------- +int2ack: +; pid.c:78: _endasm; +; genInline + anl 0C8h,#07Fh ; clear TF2 = clears timer 2 overflow +; genLabel +L00105: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'controller' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:81: static void controller(void) interrupt +; genFunction +; ----------------------------------------- +; function controller +; ----------------------------------------- +controller: + push 0E0h + push b + push dpl + push dph + push 093h + push 086h + mov 086h,#00h + push 084h + push 085h + push 095h + push 01Dh + push 02h + push 03h + push 04h + push 05h + push 06h + push 07h + push 00h + push 01h + push 0D0h + mov 0D0h,#00h +; pid.c:83: int2ack(); +; genCall + lcall int2ack +; pid.c:85: output=reference; +; genAssign + mov dptr,#reference +; genAssign: resultIsFar = TRUE +; genFarFarAssign (390 auto-toggle fun) + mov 086h,#021h + mov dptr,#output + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + inc dptr + inc dptr + movx a,@dptr + movx @dptr,a + mov 086h,#00h +; genLabel +L00107: +; genEndFunction + pop 0D0h + pop 01h + pop 00h + pop 07h + pop 06h + pop 05h + pop 04h + pop 03h + pop 02h + pop 01Dh + pop 095h + pop 085h + pop 084h + pop 086h + pop 093h + pop dph + pop dpl + pop b + pop 0E0h + reti +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_getOutput' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:89: float Native_getOutput(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_getOutput +; ----------------------------------------- +Native_getOutput: +; pid.c:91: return output; +; genRet +; Peephole 220a removed bogus DPS set + mov 086h,#01h + mov dptr,#output + xch a,01Dh + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r0,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r1,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r2,01Dh + mov 086h,#01h + xch a,01Dh + inc dptr + movx a,@dptr + mov 086h,#00h + xch a,01Dh + mov r3,01Dh +; genLabel +L00109: +; genEndFunction + ret +;------------------------------------------------------------ +;Allocation info for local variables in function 'Native_setReference' +;------------------------------------------------------------ +;------------------------------------------------------------ +; pid.c:95: void Native_setReference(void) _JavaNative +; genFunction +; ----------------------------------------- +; function Native_setReference +; ----------------------------------------- +Native_setReference: +; pid.c:118: _endasm; +; genInline + clr a + lcall 029A28h ; get parameter in R3: + + + + mov dptr,#reference + mov a,r0 + movx @dptr,a + inc dptr + mov a,r1 + movx @dptr,a + inc dptr + mov a,r2 + movx @dptr,a + inc dptr + mov a,r3 + movx @dptr,a +; genLabel +L00111: +; genEndFunction + ret + ; SECTION NOT SUPPORTED + +$END_MODULE +;Comment Inserted By Macro Preprocessor - end +;****************************************************************************** +; +; Actuator Interface Card +; PID +; Real Time Module Global Variables +; Copyright (C) 2005 Walter Fetter Lages +; +; This program is free software; you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation; either version 2 of the License, or +; (at your option) any later version. +; +; This program is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with this program; if not, write to the Free Software +; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +; +; You can also obtain a copy of the GNU General Public License +; at . +; +;*******************************************************************************/ + + +output: db 0,0,0,0 +th: db 0,0 +reference: db 0,0,0,0 + end diff --git a/PIDDaemon/Makefile b/PIDDaemon/Makefile new file mode 100644 index 0000000..590bf53 --- /dev/null +++ b/PIDDaemon/Makefile @@ -0,0 +1,44 @@ +CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar +APIDBPATH=-d /opt/tini/bin/tini.db +TINIRTAIPATH=${HOME}/src/tini/rtai +LIBPATH=-PATH ${TINIRTAIPATH}/lib/rtai.jar +JAVAFLAGS=-O -target 1.1 -source 1.3 +ASMINC=-I/opt/tini/native/lib +ASMOPT=-f 1.14 -p 390 -l +ASMMACRO=/opt/tini/native/bin/Linux/macro +ASM=/opt/tini/native/bin/Linux/a390 +CC=sdcc +CFLAGS=-mTININative -S --use-accelerator +CINCLUDE=-I${TINIRTAIPATH}/include +CMPFLAGS=${CFLAGS} ${CINCLUDE} + +all: PIDDaemon.tini + +PIDDaemon.class: PIDDaemon.java + javac ${CLASSPATH} ${JAVAFLAGS} PIDDaemon.java + +pid.mpp: pid.a51 + ${ASMMACRO} ${ASMINC} -e- pid.a51 + +globals.mpp: globals.a51 + ${ASMMACRO} ${ASMINC} globals.a51 + +pid.tlib: pid.mpp globals.mpp ${TINIRTAIPATH}/lib/globals.mpp + cat pid.mpp ${TINIRTAIPATH}/lib/globals.mpp globals.a51 > tmp.mpp + ${ASM} ${ASMOPT} tmp.mpp + mv tmp.tlib pid.tlib + mv tmp.lst pid.lst + +pid.a51: pid.c + ${CC} ${CMPFLAGS} pid.c + +PIDDaemon.tini: PIDDaemon.class pid.tlib + java ${CLASSPATH} TINIConvertor -n pid.tlib -f PIDDaemon.class ${APIDBPATH} -o PIDDaemon.tini + + +clean: + rm -f *.bak *~ PIDDaemon.class pid.tlib pid.mpp pid.lst pid.a51 globals.mpp tmp.mpp tmp.lst + +distclean: clean + rm -f PIDDaemon.tini + diff --git a/PIDDaemon/PIDDaemon.java b/PIDDaemon/PIDDaemon.java new file mode 100644 index 0000000..d669fcb --- /dev/null +++ b/PIDDaemon/PIDDaemon.java @@ -0,0 +1,78 @@ +/****************************************************************************** + + Actuator Interface Card + PID Daemon + User Interface Module + Copyright (C) 2004, 2005 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*******************************************************************************/ + +import com.dalsemi.system.*; + +public class PIDDaemon +{ + public static native int startRealtime(int period); + public static native void stopRealtime(); + public static native void setReference(int reference); + public static native int getOutput(); + + public static void main(String[] args) + { + System.out.println("PID Daemon"); + System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); + + int tfms=0; + if(args.length==1) + { + tfms=Integer.parseInt(args[0]); + } + else + { + System.out.println("Usage:\tPIDDaemon ms"); + System.exit(1); + } + + System.out.print("Loading native library..."); + System.loadLibrary("pid.tlib"); + System.out.println("done."); + + int us=10000; + System.out.print("Starting real-time timer with "+us+" us period..."); + int period=startRealtime(us); + System.out.println("done. Effective period: "+period+" us."); + + System.out.print("Running PID for "+tfms+" ms..."); + long t0=TINIOS.uptimeMillis(); + long t=0; + while(t <= tfms) + { + t=TINIOS.uptimeMillis()-t0; + System.out.print("t="+t+" ms"); + int ref=(int)t/2; + setReference(ref); + System.out.println("\treference="+ref+"\toutput="+getOutput()); + } + System.out.println("...done."); + + System.out.print("Stoping real-time timer..."); + stopRealtime(); + System.out.println("done."); + } +} diff --git a/PIDDaemon/globals.a51 b/PIDDaemon/globals.a51 new file mode 100644 index 0000000..27ccad3 --- /dev/null +++ b/PIDDaemon/globals.a51 @@ -0,0 +1,31 @@ +;****************************************************************************** +; +; Actuator Interface Card +; PID Daemon +; Real Time Module Global Variables +; Copyright (C) 2004, 2005 Walter Fetter Lages +; +; This program is free software; you can redistribute it and/or modify +; it under the terms of the GNU General Public License as published by +; the Free Software Foundation; either version 2 of the License, or +; (at your option) any later version. +; +; This program is distributed in the hope that it will be useful, +; but WITHOUT ANY WARRANTY; without even the implied warranty of +; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +; GNU General Public License for more details. +; +; You should have received a copy of the GNU General Public License +; along with this program; if not, write to the Free Software +; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. +; +; You can also obtain a copy of the GNU General Public License +; at . +; +;*******************************************************************************/ + + +output: db 0,0,0,0 +th: db 0,0 +reference: db 0,0,0,0 + end diff --git a/PIDDaemon/pid.c b/PIDDaemon/pid.c new file mode 100644 index 0000000..2895194 --- /dev/null +++ b/PIDDaemon/pid.c @@ -0,0 +1,71 @@ +/****************************************************************************** + + Actuator Interface Card + PID Daemon + Real Time Module + Copyright (C) 2004, 2005 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*******************************************************************************/ + +#include + +#include + +extern volatile long *output; +extern volatile pthread_t th; +extern volatile long *reference; + +/* By now this is not actually a thread as it should be, + but a function that is called at each timer interrupt */ +void *count(void *arg) +{ +// volatile long *output=(volatile long *)arg; +// for(;;) +// { +// rt_wait_period(); + *output=*reference; +// } +} + +RTIME Native_startRealtime(void) _JavaNative +{ + volatile long period = NatLib_LoadInt(0); + RTIME count=micro2count(period); + start_rt_timer(count); + pthread_create(&th,NULL,count,output); + return count2micro(count); +} + +void Native_stopRealtime(void) _JavaNative +{ + pthread_cancel(th); + stop_rt_timer(); +} + + +long Native_getOutput(void) _JavaNative +{ + return output; +} + +void Native_setReference(void) _JavaNative +{ + *reference = NatLib_LoadInt(0); +} diff --git a/PIDDaemon/pid1.c b/PIDDaemon/pid1.c new file mode 100644 index 0000000..40019df --- /dev/null +++ b/PIDDaemon/pid1.c @@ -0,0 +1,85 @@ +/****************************************************************************** + + Actuator Interface Card + PID Daemon + Real Time Module + Copyright (C) 2004, 2005 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*******************************************************************************/ + +#define RTIME long + +RTIME Native_start_rt_timer(void) _JavaNative +{ + volatile long period = NatLib_LoadInt(0); + + _asm + + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + + mov dps,#1 + mov dptr,#count + mov a,#2bh ; timer 2 + call System_InstallInterrupt + mov dps,#00h + + anl CKCON,#0dfh ; clear T2M = timer 2 uses clock/12 + mov T2MOD,#00h ; clear DCEN = counts up only + +; TINI oscillator is 18432000 => counter=0c400h=100Hz + mov RCAP2L,#00h ; count reload LSB + mov TL2,#00h ; count LSB + mov RCAP2H,#0c4h ; count reload MSB + mov TH2,#0c4h ; count MSB + + orl IP,#20h ; set PT2 = set timer 2 interrupt to high priority + orl IE,#20h ; set ET2 = enable timer 2 interrupt + + mov T2CON,#04h ; set TR2 = enable timer 2 + _endasm; + + return period; +} + +void Native_stop_rt_timer(void) _JavaNative +{ + _asm + mov T2CON,#00h ; clear TR2 = disable timer 2 + anl IE,#0dfh ; clear ET2 = disable timer 2 interrupt + anl IP,#0dfh ; clear PT2 = set timer 2 interrupt to normal priority + _endasm; +} + +static void int2ack(void) +{ + _asm + anl T2CON,#7fh ; clear TF2 = clears timer 2 overflow + _endasm; +} + +extern volatile long counter; + +static void count(void) interrupt +{ + int2ack(); + + counter++; +} diff --git a/doc/aicpcb.ps b/doc/aicpcb.ps index 2976884..122248e 100644 --- a/doc/aicpcb.ps +++ b/doc/aicpcb.ps @@ -1,52 +1,77 @@ %!PS-Adobe-3.0 %%Pages: (atend) -%%BoundingBox: 43 276 551 565 -%%HiResBoundingBox: 43.950000 276.950000 550.050000 564.050000 -%................................... -%%Creator: GNU Ghostscript 550 (pswrite) -%%CreationDate: 2003/11/28 11:03:43 +%%BoundingBox: 0 0 551 565 +%%HiResBoundingBox: 0.000000 0.000000 550.050000 564.050000 +%......................................... +%%Creator: GNU Ghostscript 707 (pswrite) +%%CreationDate: 2005/06/01 10:05:16 %%DocumentData: Clean7Bit %%LanguageLevel: 2 %%EndComments %%BeginProlog % This copyright applies to everything between here and the %%EndProlog: -% Copyright (C) 1998 Aladdin Enterprises, Menlo Park, CA. 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3250.08 71.9998 71.9998 re +f 1292.4 3286.08 m 0 -19.88 -16.12 -36 -36 -36 c -19.88 0 -36 16.12 -36 36 c 0 19.88 16.12 36 36 36 c 19.88 0 36 -16.12 36 -36 c f -2952 5179.68 64.7998 64.7998 rf +2952 5179.68 64.7998 64.7998 re +f 3016.8 5500.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -4248 4117.68 64.7998 64.7998 rf +4248 4117.68 64.7998 64.7998 re +f 4384.8 4150.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -4582.8 3858.48 79.2 79.2 rf +4582.8 3858.48 79.2 79.2 re +f 4734 3898.08 m 0 -21.87 -17.73 -39.6 -39.6 -39.6 c -21.87 0 -39.6 17.73 -39.6 39.6 c @@ -56043,21 +56475,24 @@ f 0 21.87 17.73 39.6 39.6 39.6 c 21.87 0 39.6 -17.73 39.6 -39.6 c f -1008 3253.68 64.7998 64.7998 rf +1008 3253.68 64.7998 64.7998 re +f 1072.8 3070.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3956.4 4042.08 71.9998 71.9998 rf +3956.4 4042.08 71.9998 71.9998 re +f 3848.4 4078.08 m 0 -19.88 -16.12 -36 -36 -36 c -19.88 0 -36 16.12 -36 36 c 0 19.88 16.12 36 36 36 c 19.88 0 36 -16.12 36 -36 c f -982.8 3905.28 64.7998 64.7998 rf +982.8 3905.28 64.7998 64.7998 re +f 1047.6 3865.68 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -56124,8 +56559,10 @@ f 0 19.88 16.12 36 36 36 c 19.88 0 36 -16.12 36 -36 c f -986.399 4250.88 71.9998 71.9998 rf -2412 3937.68 64.7998 64.7998 rf +986.399 4250.88 71.9998 71.9998 re +f +2412 3937.68 64.7998 64.7998 re +f 2548.8 3970.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -56264,7 +56701,8 @@ f 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -1404 3721.68 64.7998 64.7998 rf +1404 3721.68 64.7998 64.7998 re +f 1540.8 3754.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -56403,7 +56841,8 @@ f 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3416.4 4150.08 71.9998 71.9998 rf +3416.4 4150.08 71.9998 71.9998 re +f 3560.4 4186.08 m 0 -19.88 -16.12 -36 -36 -36 c -19.88 0 -36 16.12 -36 36 c @@ -56446,14 +56885,16 @@ f 0 19.88 16.12 36 36 36 c 19.88 0 36 -16.12 36 -36 c f -2682 2947.68 64.7998 64.7998 rf +2682 2947.68 64.7998 64.7998 re +f 2818.8 2980.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -2160 5215.68 64.7998 64.7998 rf +2160 5215.68 64.7998 64.7998 re +f 2296.8 5248.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -56544,7 +56985,8 @@ f 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -4204.8 3858.48 79.2 79.2 rf +4204.8 3858.48 79.2 79.2 re +f 4356 3898.08 m 0 -21.87 -17.73 -39.6 -39.6 -39.6 c -21.87 0 -39.6 17.73 -39.6 39.6 c @@ -56557,28 +56999,32 @@ f 0 21.87 17.73 39.6 39.6 39.6 c 21.87 0 39.6 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+f 4042.8 4816.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -56664,28 +57111,32 @@ f 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -4266 4747.68 64.7998 64.7998 rf +4266 4747.68 64.7998 64.7998 re +f 4330.8 5068.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3762 4747.68 64.7998 64.7998 rf +3762 4747.68 64.7998 64.7998 re +f 3826.8 5068.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3762 5179.68 64.7998 64.7998 rf +3762 5179.68 64.7998 64.7998 re +f 3826.8 5500.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3906 5215.68 64.7998 64.7998 rf +3906 5215.68 64.7998 64.7998 re +f 4042.8 5248.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -56728,21 +57179,24 @@ f 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -4266 5179.68 64.7998 64.7998 rf +4266 5179.68 64.7998 64.7998 re +f 4330.8 5500.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -4410 4747.68 64.7998 64.7998 rf +4410 4747.68 64.7998 64.7998 re +f 4474.8 5068.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3258 4783.68 64.7998 64.7998 rf +3258 4783.68 64.7998 64.7998 re +f 3394.8 4816.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -56785,14 +57239,16 @@ f 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3618 4747.68 64.7998 64.7998 rf +3618 4747.68 64.7998 64.7998 re +f 3682.8 5068.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -3376.8 3030.48 79.2 79.2 rf +3376.8 3030.48 79.2 79.2 re +f 3384 3070.08 m 0 -21.87 -17.73 -39.6 -39.6 -39.6 c -21.87 0 -39.6 17.73 -39.6 39.6 c @@ -56805,14 +57261,16 @@ f 0 21.87 17.73 39.6 39.6 39.6 c 21.87 0 39.6 -17.73 39.6 -39.6 c f -2538 3163.68 64.7998 64.7998 rf +2538 3163.68 64.7998 64.7998 re +f 2602.8 2980.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -2808 5179.68 64.7998 64.7998 rf +2808 5179.68 64.7998 64.7998 re +f 2872.8 5500.08 m 0 -17.89 -14.51 -32.4 -32.4 -32.4 c -17.89 0 -32.4 14.51 -32.4 32.4 c @@ -58025,7 +58483,7 @@ f 0 17.89 14.51 32.4 32.4 32.4 c 17.89 0 32.4 -14.51 32.4 -32.4 c f -end showpage pagesave restore +cleartomark end end pagesave restore showpage %%PageTrailer %%Trailer %%Pages: 9 diff --git a/lib/Makefile b/lib/Makefile index a86704d..0767d0f 100644 --- a/lib/Makefile +++ b/lib/Makefile @@ -6,7 +6,7 @@ JAVAFLAGS=-O -target 1.1 -source 1.3 NATINC=/opt/tini/native/lib ASMINC=../include TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc -ASMOPT=-f 1.14 -p 390 -l +ASMOPT=-f 1.15 -p 390 -l ASMMACRO=/opt/tini/native/bin/Linux/macro ASM=/opt/tini/native/bin/Linux/a390 @@ -84,6 +84,9 @@ index.mpp: index.a51 ${TINIINC} ${ASMINC}/aicpld.inc index.tlib: index.mpp ${ASM} ${ASMOPT} index.mpp + +t.tlib: t.mpp + ${ASM} ${ASMOPT} t.mpp encoder.mpp: encoder.a51 ${TINIINC} ${ASMINC}/aicpld.inc ${ASMMACRO} -I${ASMINC} encoder.a51 diff --git a/lib/aiccan.cpp b/lib/aiccan.cpp index c1cacfc..b7b2e21 100644 --- a/lib/aiccan.cpp +++ b/lib/aiccan.cpp @@ -47,7 +47,8 @@ AIC(this) { aicnumber=aic; canHandle handle; - canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXTENDED); + handle=canOpenChannel(bus,canWANT_EXTENDED); + canStatus status=(canStatus)handle; if(status < 0) throw BAD_OPEN(); status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0); diff --git a/lib/aichostcan.cpp b/lib/aichostcan.cpp index 3d5a292..f356d4a 100644 --- a/lib/aichostcan.cpp +++ b/lib/aichostcan.cpp @@ -41,7 +41,8 @@ AIC_HOST() { aicnumber=aic; canHandle handle; - canStatus status=(canStatus)handle=canOpenChannel(bus,canWANT_EXTENDED); + handle=canOpenChannel(bus,canWANT_EXTENDED); + canStatus status=(canStatus)handle; if(status < 0) throw BAD_OPEN(); status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0); diff --git a/pid5/Makefile b/pid5/Makefile deleted file mode 100644 index 5992b86..0000000 --- a/pid5/Makefile +++ /dev/null @@ -1,44 +0,0 @@ -PRJLIBDIR=../lib -PRJINCLUDE=../include -PRJFLAGS=-DVERBOSE - -CFLAGS=-O2 -Wall -march=i486 -CINCLUDE=-I. -I${HOME}/include -I/usr/local/include -I/usr/realtime/include -CLIBDIR=-L${HOME}/lib -L/usr/local/lib -CLIBS=-lcutil -lpthread -lcanlib - -CPPFLAGS= -CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include -CPPLIBDIR=-L${HOME}/lib/cpp -L../lib -CPPLIBS=-laic -lcpputil -lcontrol - -INCLUDE=${CINCLUDE} ${CPPINCLUDE} -FLAGS= ${CFLAGS} ${CPPFLAGS} -LIBDIR=${CLIBDIR} ${CPPLIBDIR} -LIBS=${CPPLIBS} ${CLIBS} - -CMP= g++ -CMPFLAGS= ${FLAGS} ${INCLUDE} ${PRJFLAGS} -LDFLAGS= ${LIBDIR} ${LIBS} -CMPSWTCH= gnu -CMPMESSAGE= '${?*:warning:}\"${FILE}\", line ${LINE}:* at or near * \"${COLUMN=AFTER}\"' - - -all: pid .runinfo - -pid: pid.cpp ${PRJINCLUDE}/aic.h ${PRJLIBDIR}/libaic.a - ${CMP} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS} - -${PRJLIBDIR}/libaic.a: - $(MAKE) -C ${PRJLIBDIR} - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f pid *.dat .runinfo - -.runinfo: runinfo - cp runinfo .runinfo diff --git a/pid5/pid.cpp b/pid5/pid.cpp deleted file mode 100644 index 38e1492..0000000 --- a/pid5/pid.cpp +++ /dev/null @@ -1,234 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC PID Controller - Copyright (C) 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include -using namespace std; - -#include -#include - -#include - -#include - -#include - -static inline double ref(double t,int i) -{ - return M_PI; -} - -struct PID_ARGS -{ - double st; - volatile int *run; - double gain[3]; - char name[64]; - int aicn; -}; - -void *pid_thread(void *arg) -{ - struct PID_ARGS *p=(struct PID_ARGS *) arg; - - AIC_CAN *aic; - - try - { - aic=new AIC_CAN(p->aicn); - } - catch(AIC_CAN::BAD_OPEN) - { - cerr << "Can't open CAN" << endl; - pthread_exit(NULL); - } - catch(AIC_CAN::BAD_PARMS) - { - cerr << "Bad CAN parameters" << endl; - pthread_exit(NULL); - } - catch(AIC_CAN::BAD_BUSON) - { - cerr << "Bad CAN bus" << endl; - pthread_exit(NULL); - } - aic->motor.on(); - aic->brake.release(); - - PID_CONTROLLER pid(p->gain[0],p->gain[1],p->gain[2]); - pid.saturate(1,-24.0,24.0); - - double u=0.0; - double y=0.0; - - unsigned long tsk_name = nam2num(p->name); - struct sched_param sched; - - sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; - if(sched_setscheduler(0,SCHED_FIFO, &sched ) == -1 ) - { - cerr << "Error setting scheduler: " << strerror(errno) << "\n"; - pthread_exit(NULL); - } - - mlockall(MCL_CURRENT | MCL_FUTURE); - - RT_TASK *tsk; - if(!(tsk = rt_task_init(tsk_name, p->aicn, 0, 0))) - { - cerr << "Can't init task\n"; - pthread_exit(NULL); - } - - rt_make_hard_real_time(); - - int period = (int) nano2count((RTIME)(p->st*1e9)); - rt_task_make_periodic(tsk,rt_get_time(),period); - - RTIME t0=rt_get_time_ns(); - - for(double t=0;*(p->run);t=(rt_get_time_ns()-t0)*1e-9) - { - - rt_make_soft_real_time(); - y+=aic->encoder.read(); - rt_make_hard_real_time(); - - double e=ref(t,p->aicn)-y; - u=pid.out(e); - - rt_make_soft_real_time(); - aic->motor=u; - - - cout << p->aicn << "\t" << y << endl; - rt_make_hard_real_time(); - - rt_task_wait_period(); - - } - - aic->motor=0; - aic->brake.apply(); - aic->motor.off(); - rt_make_soft_real_time(); - rt_task_delete(tsk); - munlockall(); - try - { - delete aic; - } - catch(AIC_CAN::BAD_CLOSE) - { - cerr << "Can't close AIC_CAN" << endl; - pthread_exit(NULL); - } - pthread_exit(NULL); - return NULL; -} - - -int main(void) -{ - - const double ST=0.01; - const double TF=20; - - rt_allow_nonroot_hrt(); - - rt_set_oneshot_mode(); - int period = (int) nano2count((RTIME)(ST*1e9)); - start_rt_timer(period); - - - unsigned long tsk_name = nam2num("Main"); - struct sched_param sched; - - sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; - if(sched_setscheduler(0,SCHED_FIFO, &sched ) == -1 ) - { - cerr << "Error setting scheduler: " << strerror(errno) << "\n"; - pthread_exit(NULL); - } - - volatile int run=1; - - pthread_t pid_th[5]; - struct PID_ARGS pidargs[5]; - - for(int i=0;i < 5;i++) - { - pidargs[i].st=ST; - pidargs[i].run=&run; - pidargs[i].gain[0]=20; - pidargs[i].gain[1]=5; - pidargs[i].gain[2]=10; - snprintf(pidargs[i].name,64,"PID%d",i); - pidargs[i].aicn=i+1; - - if(int err=pthread_create(&pid_th[i],NULL,&pid_thread,&pidargs[i])) - { - cerr << "Error creating thread: " << strerror(err) << endl; - } - } - - - mlockall(MCL_CURRENT | MCL_FUTURE); - - RT_TASK *tsk; - if(!(tsk = rt_task_init(tsk_name, 1, 0, 0))) - { - cerr << "Can't init task\n"; - pthread_exit(NULL); - } - -// rt_make_hard_real_time(); - - rt_task_make_periodic(tsk,rt_get_time()+period,period); - - RTIME t0=rt_get_time_ns(); - for(double t=0; t <= TF && run; t=(rt_get_time_ns()-t0)*1e-9) - { - -#ifdef VERBOSE - cout << t << "\n"; -#endif - - rt_task_wait_period(); - } - - run=0; - - for(int i=0;i < 5;i++) pthread_join(pid_th[i],NULL); - -// rt_make_soft_real_time(); - rt_task_delete(tsk); - munlockall(); - - stop_rt_timer(); - - return 0; -} diff --git a/pid5/runinfo b/pid5/runinfo deleted file mode 100644 index 478ce5e..0000000 --- a/pid5/runinfo +++ /dev/null @@ -1 +0,0 @@ -pid:lxrt:./pid 1;popall: