Design of Embedded Systems Using 68HC12/11 Microcontrollers

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1 Design of Embedded Systems Using 68HC12/11 Microcontrollers Richard E. Haskell Table of Contents Preface...vii Chapter 1 Introducing the 68HC From Microprocessors to Microcontrollers The 68HC12 Registers The 68HC12 Accumulators Index Registers, X and Y Stack Pointer, SP Program Counter, PC The Condition Code Register...13 Carry (C)...14 Zero Flag (Z)...14 Negative Flag (N)...15 Overflow Flag (V)...15 Half Carry (H)...15 Interrupt Mask Flag (I)...15 X-Interrupt Mask Flag (X)...15 Stop Disable Flag (S) Writing Programs for the 68HC Editing and Assembling a.asm File Downloading and Executing the Program Addressing Modes Summary...24 Exercises...24 Chapter 2 Subroutines and Stacks The System Stack Subroutines A Data Stack Making Subroutines Interactive Stack Manipulation Words The Return Stack Summary...50 Exercises...51 Chapter 3 68HC12 Arithmetic Addition and Subtraction Increment and Decrement Instructions Double Numbers...55

2 3.1.3 Displaying Single and Double Numbers on the Screen Multiplication Division bit Signed Division: IDIVS Extended Unsigned Division: EDIV Extended Signed Division: EDIVS Integer and Fractional Divide: IDIV and FDIV...71 The Instruction IDIV...71 The Instruction FDIV, Fractional Divide...73 A 68HC11 Version of UM/MOD Shift and Rotate Instructions Logical Shift Instructions...76 Logic Shift Left...76 Logic Shift Right Arithmetic Shift Instructions Rotate Instructions...77 Rotate Left...78 Rotate Right Shifting 16-bit Words Summary...79 Exercises...82 Chapter 4 WHYP -- An Extensible Language A Closer Look at WHYP Defining New WHYP Words Defining New Words Interactively SEE and SHOW Single-Stepping Through Colon Definitions Loading WHYP Words from a File CR and." Variables Fetch and Store System Variables Arrays Constants Tables EEPROM Erasing the EEPROM Programming the EEPROM Storing WHYP Programs in the EEPROM Summary Exercises Chapter 5 Branching and Looping HC12 Branch Instructions Short Conditional Branch Instructions Unconditional Branch and Jump Instructions...123

3 5.1.3 Branching Examples Branching on the Zero Flag Z Branching on the Negative Flag N Branching on the Carry and Overflow Flags, C and V Bit-Condition Branch Instructions Unsigned and Signed Branch Instructions WHYP Branching and Looping Words WHYP Conditional Words WHYP Logical Words IF...ELSE...THEN FOR...NEXT Loop A FOR...NEXT Delay Loop BEGIN...AGAIN BEGIN...UNTIL BEGIN...WHILE...REPEAT Sine and Arcsine DO...LOOP The Word LEAVE Recursion in WHYP Summary Exercises Chapter 6 Interrupts HC12 Interrupts HC12 Non-Maskable Interrupts Reset COP (Computer Operating Properly) Unimplemented Instruction Trap Software Interrupts (SWI) Non-maskable Interrupt Request (XIRQ) HC12 Maskable Interrupts HC11 Interrupts Interrupt Vector Jump Tables HC711E D-Bug Writing WHYP Interrupt Service Routines Real-Time Interrupts Real-Time Interrupt on a 68HC Writing Assembly Language Interrupt Service Routines Summary Exercises...181

4 Chapter 7 Parallel Interfacing Parallel I/O Ports The MC68HC812A4 Parallel Ports The MC68HC912B32 Parallel Ports The MC78HC711E9 Parallel Ports Port A Port B Port C Port D Port E Using Parallel Ports Using Parallel Port Outputs Using Parallel Port Inputs Seven-Segment Displays Common-Anode Displays Common-Cathode Displays -- The MC Keypad Interfacing x 4 Hex Keypad The 74C Key Encoder Interfacing a 16 x 1 Hex Keypad Using a Decoder Liquid Crystal Displays Interrupt-Driven Traffic Lights Summary Exercises Chapter 8 The Serial Peripheral Interface (SPI) Operation of the SPI The SPI Registers Programming the SPI in WHYP Keypad Interfacing with Shift Registers Four-Digit Seven-Segment Display Using a MC The 68HC68T1 Real-Time Clock Summary Exercises Chapter 9 Analog-to-Digital Converter Analog-to-Digital Conversion The 68HC11 A/D Converter WHYP Words for the 68HC11 A/D Converter The 68HC12 A/D Converter WHYP Words for the 68HC12 A/D Converter Design of a Digital Compass Summary Exercises...260

5 Chapter 10 Timers The 68HC12 Programmable Timer The 68HC11 Timer Registers Output Compares Pulse Train Example Output Compares on a 68HC Input Capture Input Captures on a 68HC Pulse Accumulator The Pulse Accumulator on a 68HC Timing Interrupt Service Routines A Circular Queue Data Structure Keypad Interfacing Using Interrupts Pulse Train Using Interrupts Measuring the Period of a Pulse Train Using Interrupts The Polaroid Ultrasonic Transducer Summary Exercises Chapter 11 The Serial Communications Interface (SCI) Asynchronous Serial I/O The 68HC12 SCI Interface The Data Register The Status Register The Control Registers The Baud Rate Control Register Programming the SCI Port The 68HC11 SCI Registers Programming the SCI in WHYP Communicating with a PC Testing SCI1 with the LOOP Function Sending Register Values to the PC SCI Interface Using Interrupts Master-Slave SCI Communications Summary Exercises Chapter 12 Strings and Number Conversions WHYP Strings ASCII Number String to Binary Conversion Binary Number to ASCII String Conversion Examples of Converting Numbers to ASCII Strings The WHYP Words CMOVE and CMOVE> Summary Exercises Chapter 13 Program Control and Data Structures...344

6 13.1 CREATE...DOES> Program Control A Simple Jump Table A Jump Table With WHYP Words Data Structures Arrays Linked Lists Summary Exercises Chapter 14 Fuzzy Control Fuzzy Sets Design of a Fuzzy Controller Fuzzification of inputs: get_inputs() The 68HC12 MEM Instruction WHYP Words for Defining Membership Functions Fuzzy inference Processing the rules: fire_rules() The 68HC12 REV Instruction WHYP Words for Defining Fuzzy Rules Centroid Defuzzification Output defuzzification: find_output() The 68HC12 WAV Instruction A Fuzzy Control Example -- Floating Ping-Pong Ball Summary Exercises Chapter 15 Special Topics Computer Operating Properly (COP) Key Wakeup (68HC812A4 only) Flash EEPROM (68HC912B32 only) Erasing and Programming the Flash EEPROM Pulse-Width Modulator (68HC912B32 only) Summary Exercises Chapter 16 WHYP12 C++ Classes A Character Queue Class A Uart Class The 8250 UART An S-Record Class A Link List Class A Dictionary Class Summary...430

7 Chapter 17 WHYP12 C++ Main Program Compiling and Running the WHYP Host Program The WHYP Configuration File The Immediate Dictionary The WHYP Main Program Checking the COM Port Getting Input from the Keyboard Processing an Input Word Communicating with the Target Board The Terminal Host Function Compiler Words Branching Words Compiling Colon Definitions Processing Characters Received from the Target Summary Appendix A 68HC12 Instruction Set Appendix B 68HC11 Instruction Set Appendix C Loading WHYP on 68HC12 and 68HC11 Evaluation Boards Appendix D WHYP12.ASM File Appendix E WHYP12.HED Header File Appendix F WHYP12.CFG Configuration File Appendix G WHYP Glossary Appendix H The WHYP Disk Index...562

The Philosophy of WHYP

The Philosophy of WHYP Richard E. Haskell Department of Computer Science and Engineering Oakland University Rochester, Michigan 48309 Abstract WHYP (pronounced whip) is a subroutine-threaded version of