The program code is reproduced below. You should master the Multitasking tutorial before attempting to understand this code!
;mdrv2.spt Example motor drive program using SPice10213 ;This program is written for an MMi99/200 with LCD, but can easily ;be ported to an MS12 ;The program uses front panel push button inputs as follows: ; Input Function ; 12 + speed ; 11 - speed ; 10 Stop/Start ; 9 Forward/Reverse ; 8 Not used ;The program consists of 3 tasks: ;SPD (Speed) Simply monitors the + and - buttons and generates a target speed value ;DRV (Drive) Ramps the motor speed (PWM) towards the target speed ;MSQ (Motor sequencer) Master sequencer for stop/start, forward/reverse. Uses DRV ; for actual PWM generation. ;The 3 tasks are written as independent tasks witin a multitasking structure. ;You need to understand the material in the multitasking tutorial to make sense of this ;=============== Constants ==================== SPD_Increment EQU 10 ;Inc/Dec speed by this amount for each button push StopTime EQU 10 ; x 10mS. Time allowed for motor to stop with dynamic braking ;============== I/O allocations ============== ;Alter for MS12 ;----------- Inputs ---------------- iSPeedUp iEQU 12 iSpeedDn iEQU 11 iStopStart iEQU 10 iFwdRev iEQU 9 ;----------- Outputs --------------- oDirection oEQU 16 ;========= RAM ============== ;-------- Semaphores (1-bit variables) in 1st 8 bytes --------------- Direction sEQU 0 DRV_Accelerate sEQU 1 Tick10 sEQU 2 MSQ_DirFWD sEQU 3 MSQ_RevFlag sEQU 4 ;-------- Other RAM ------------ MSQ_Addr mEQU 20 ;2 bytes. Suspend address for MSQ SPD_Target mEQU 22 ;Target PWM DRV_Addr mEQU 23 ;2 bytes. Suspend address for DRV DRV_PWM mEQU 25 ;Current PWM value SPD_Count mEQU 26 MSQ_Count mEQU 27 MSQ_State mEQU 28 ;------------------------------------------------------------- Start: setu 0,1 ;set spice connector pin 4 as DO setu 3,1 ;set spice connector pin 7 as DO setu 4,4 ;set spice connector pin 8 as PWM output setu 5,4 ;set spice connector pin 9 as PWM output SpiceConfigU GoSub SPD_Init ;Initialize tasks GoSub DRV_Init GoSub MSQ_Init MainLoop: GetTick10 ;Generate 10mS heartbeat StoreS Tick10 GoSub SPD_UpDate ;Run task GoSub DRV_UpDate ;Run task GoSub MSQ_UpDate ;Run task ;Debug: Display the MSQ state number OBLCD_SetCur 1,13 OBLCD_UDecDispMFW MSQ_State GoTo MainLoop ;==================================================================== ;----------- Motor sequencer --------------------- ;Short name MSQ ;Entry points ; MSQ_Init Initialize ; MSQ_Update Update MSQ_UpDate: Resume MSQ_Addr MSQ_Init: ;State 0 is the idle state. MSQ_Set0: SetMem MSQ_State,0 ;For debugging monitor MSQ_0: Suspend MSQ_Addr GoIfInK iStopStart,MSQ_Set1 ;Test stop/start button GoSub MSQ_ReadFR ;Test and process F/R GoTo MSQ_0 ;In state 1 we set the relay for the correct direction, then wait for it to settle ;prior to starting up the PWM drive MSQ_Set1: SetMem MSQ_State,1 ;For debugging monitor RecallS MSQ_RevFlag ;Set direction relay ... Output oDirection ;... according to direction flag ;Here we mark off two timer ticks to ensure at least a 10mS pause while the relay settles. MSQ_1: Suspend MSQ_Addr GoIfSF Tick10,GenRet ;Sync to timer tick Suspend MSQ_Addr GoIfInK iStopStart,MSQ_Set0 ;Test stop/start button GoIfSF Tick10,GenRet ;Wait for next tick ;State 2 is the run state. the DRV task may well be accelerating, but that does ;not concern us one way or the other here. MSQ_Set2: SetMem MSQ_State,2 ;For debugging monitor GoSub DRV_Run ;Start ramping up speed MSQ_2: Suspend MSQ_Addr GoIfInK iStopStart,MSQ_Set3 ;Test stop/start button GoSub MSQ_ReadFR ;Test and process F/R GoIfF MSQ_2 ;G/ not pressed ;State 6 is decellerating prior to reversing direction. MSQ_Set6: SetMem MSQ_State,6 ;For debugging monitor GoSub DRV_Stop ;Commence stop process MSQ_6: Suspend MSQ_Addr GoIfInK iStopStart,MSQ_Set8 ;Test stop/start button GoSub DRV_Get_ZPWM ;Test if PWM is zero GoIfT MSQ_Set7 GoSub MSQ_ReadFR ;Test and process F/R GoIfF MSQ_6 ;G/ not pressed GoTo MSQ_Set2 ;State 3 is decellerating prior to stopping MSQ_Set3: SetMem MSQ_State,3 ;For debugging monitor GoSub DRV_Stop MSQ_3: Suspend MSQ_Addr GoIfInK iStopStart,MSQ_Set2 ;Test stop/start button GoSub DRV_Get_ZPWM GoIfT MSQ_Set4 GoSub MSQ_ReadFR ;Test and process F/R GoIfF MSQ_3 ;G/ not pressed ;State 5 is if F/R is pushed while decellerating for a stop MSQ_Set5: SetMem MSQ_State,5 ;For debugging monitor MSQ_5: Suspend MSQ_Addr GoIfInK iStopStart,MSQ_6 ;Test stop/start button GoSub DRV_Get_ZPWM GoIfT MSQ_Set4 GoSub MSQ_ReadFR ;Test and process F/R GoIfF MSQ_5 ;G/ not pressed GoTo MSQ_3 ;State 8 is if Stop/start is hit while decelleration prior to reversing MSQ_Set8: SetMem MSQ_State,8 ;For debugging monitor MSQ_8: Suspend MSQ_Addr GoIfInK iStopStart,MSQ_6 ;Test stop/start button GoSub DRV_Get_ZPWM GoIfT MSQ_Set4 GoTo MSQ_8 ;State 4 is timing the dynamic braking interval after a stop. MSQ_Set4: SetMem MSQ_State,4 ;For debugging monitor InputO oDirection ;Read back direction relay NOT Output oDirection SetMem MSQ_Count,StopTime MSQ_4: Suspend MSQ_Addr GoSub MSQ_ReadFR GoIfSF Tick10,MSQ_4 DMGNZ MSQ_Count,MSQ_4 GoTo MSQ_Set0 ;State 7 is timing the dynamic braking interval foir stopping during reversal MSQ_Set7: SetMem MSQ_State,7 ;For debugging monitor RecallS MSQ_RevFlag Output oDirection SetMem MSQ_Count,StopTime MSQ_7: Suspend MSQ_Addr GoSub MSQ_ReadFR GoIfSF Tick10,MSQ_7 DMGNZ MSQ_Count,MSQ_7 GoTo MSQ_Set2 ;----- Read and process F/R button. Return True if pressed MSQ_ReadFR: InputK iFwdRev Push RetIfF RecallS MSQ_RevFlag NOT StoreS MSQ_RevFlag Return ;----------- Drive Task -------------------------- ;This task is responsible for ramping the PWM up and down to the target speed ;(when enabled). In essence it simply makes the actual PWM track the target PWM, ;with ramping. There is a coding option for sudden stop or smooth stop. ;Short name DRV ;Uses lcd 1,0 through 1,3 ;Entry points ; DRV_Init Initialize ; DRV_Update Update. ; DRV_Run Start ramping up. Simply updates DRV_Accelerate semaphore ; DRV_Stop Start ramping down. Simply updates DRV_Accelerate semaphore ; DRV_Get_ZPWM Return true if PWM=0 DRV_Get_ZPWM: Recall DRV_PWM Push OR NOT Return DRV_Update: Resume DRV_Addr DRV_Init: DRV_Set0: SetMem DRV_PWM,0 GoSub DRV_PWMOut DRV_0: Suspend DRV_Addr GoIfST DRV_Accelerate,DRV_Set1 ;Test for RUN command GoTo DRV_0 DRV_Set1: ;Here on RUN command Suspend DRV_Addr ;Which of the following 2 code lines determines whether the controller ;executes sudden stops, with dynamic braking, or smooth stop (ramping down the speed) ;Comment out the line you don't want. ;This line for sudden stop: GoIfSF DRV_Accelerate,DRV_Set0 ;Test for STOP command ;This line for smooth stop: GoIfSF DRV_Accelerate,DRV_Set2 ;Test for STOP command GoIfSF Tick10,DRV_Set1 ;wait for time tick GoSub SPD_GetSpeed ;Target PWM Recall DRV_PWM ;Actual PWM CompareR ;Compare Target to actual BranchR ;Test result Target DRV_Set1 ;On target Target DRV_1_Dec ;PWM too high Target DRV_1_Inc ;PWM too low DRV_1_Dec: ;Here to decrement PWM DecM DRV_PWM GoSub DRV_PWMOut GoTo DRV_Set1 DRV_1_Inc: ;Here to increment PWM IncM DRV_PWM ; GoSub DRV_PWMOut GoTo DRV_Set1 DRV_Set2: ;Here on stop command Suspend DRV_Addr GoIfST DRV_Accelerate,DRV_Set1 ;Test for RUN command GoIfSF Tick10,DRV_Set2 ;wait for time tick GoIfMZ DRV_PWM,DRV_Set0 DecM DRV_PWM GoSub DRV_PWMOut GoTo DRV_Set2 DRV_Run: SetS DRV_Accelerate Return DRV_Stop: ClrS DRV_Accelerate Return DRV_PWMOut: ;Output the PWM Recall DRV_PWM AnOutJ ;Alter for MS12 OBLCD_SetCur 1,0 OBLCD_UDecDispMFW DRV_PWM Return ;----------- Speed task --------------------------- ;This task maintains the target speed. ;Short name SPD ;Uses lcd 0,0 through 0,3 ;Entry points ; SPD_Init Initialize ; SPD_UpDate Service push buttons, update target accordingly ; SPD_Get_Speed return current target speed in X SPD_Init: Return SPD_GetSpeed: Recall SPD_Target Return SPD_UpDate: GoIfInK iSpeedUp,SPD_Up GoIfInK iSpeedDn,SPD_Dn GenRet: Return SPD_Dn: SetMem SPD_Count,SPD_Increment SPD_DnA: GoIfMZ SPD_Target,SPD_Show DecM SPD_Target DMGNZ SPD_Count,SPD_DnA SPD_Show: OBLCD_SetCur 0,0 OBLCD_UDecDispMFW SPD_Target Return SPD_Up: SetMem SPD_Count,SPD_Increment SPD_UpA: GoIfMEQ SPD_Target,255,SPD_Show IncM SPD_Target DMGNZ SPD_Count,SPD_UpA GoTo SPD_Show