446 Chapter 8 MCORE, A RISC Machine
shown above in bits and pieces. The complete listing is found in newclock.c found on the CD-ROM in the Chapter 8 directory.
Summary
The developments in this chapter show an incremental approach to producing a program. The whole project was understood at the beginning of the chapter, but rather than try to develop the whole project, a series of small tasks were developed and tested. The complexity of each of these individual tasks was minimal. Often, the code required for each portion was but a dozen or so lines long. Such an approach is often the best approach to the development of complex code. This approach is not mine—it has been around as long as I can remember.
With any new project, you should analyze the whole project and start the development by breaking the project into tasks. Then, break into subtasks and repeat the process until the tasks are so simple that the code to implement them is trivial. Then step back a level and repeat the process, making certain that the code implementation is as simple as possible at all times. As this code is integrated, each module should be compiled and tested. Therefore, your program will be built of tested modules. Never attempt to write a big block of code without first testing the various small blocks that comprise the whole program.
Index
!=, not equal operator, 17, 26
#, preprocessor command identifier, 2 #asm, 152
#define, 16, 431 #endasm, 152 #pragma, 115, 349, 418 %, modulo operator, 24 %d, integer format, 5, 7 &&, and operator, 26
&, address-of operator, 65
*, multiplication operator, 24, 66 -, subtraction operator, 24
/, division operator, 24 @far, 295
@port, 295
\?, escape sequence for question mark, 15 \\, escape sequence for backslash, 15
\’, escape sequence for single quote, 15 \”, escape sequence for double quote, 15 \a, escape sequence for bell character,15 \b, escape sequence for backspace, 15 \f, escape sequence for form feed, 15
\n, escape sequence for new line, 2, 15, 409, 411 \ooo, escape sequence for octal number, 15
\r, escape sequence for carriage return, 15, 409, 411
\t, escape sequence for horizontal tab, 6, 15 \v, escape sequence for vertical tab, 15
\xxx, escape sequence for hexadecimal number, 15
{, block or compound statement beginning in dicator, 2
| |, or operator, 26
}, terminator of compound statement, 3 “ “, file name delimiter, 2
+, addition operator, 24 <, less than operator, 26
<=, less than or equal to operator, 26 = =, equality operator, 26
>, greater than operator, 26
>=, greater than or equal to operator, 26 15-bit timer, 130, 166
16-bit timer, 130, 166, 178-181, programming, 186-195
A
abs(x), 56 accessing files, 110 acos(x), 117
ADC, 132-133
analog-to-digital converter (ADC), 132-133, 195-201, 288
AND, 26
ANSI standard, 294 argument, function, 51
arithmetic logic unit (ALU), 124 arithmetic operators, 24-25 arithmetic shift, 29
array boundary checking, 19, 74 array index, 19
array initialization, 80 array, 18-19
array, multidimensional, 80-87 ASCII characters, 352
asin(x), 117
assembly codes callable by C6805, 150 assembly language for MC68HC12, 388 assembly language for MC68HC16, 328-332,
338, 345
assembly language, 152 assignment operators, 32 association, 7
447
448 Index
associativity of operators, 34-35 asynchronous time service, 251 asynchronous, 126
atan(x), 117 atan2(x,y), 117 auto, 9
automatic variables, 12-13 autovector interrupt handler, 416-417 autovector, 414
Axiom demonstration board, 394
B
background debug mode, 147 BAUD register, 276
BCD encoding, 207-209, 352 binary operator, 26
binary tree sort, 95 binary tree, 238
bit field, 107, 108-109 bit manipulations, 108 bitwise AND, 28 bitwise operator, 28
boot FLASH memory, 348 boundary checks, 74 break keyword, 9, 48 bubble sort, 74
C
C6805 compiler, 150, 295 calloc, 115
case keyword, 9
cast operator, 28, 114 char, 9, 15
character constants, 15-18 character tests, 117 chip-specific routines, 431
circular convolution program, 341 clear interrupt flag routine, 426 CLI instruction, 174
clock program for MMC2001, 419, 429-431 clock, 297
coding tips, 137-148 comments, 17
compilers, 52, 63, 150, 221-230, 305-318, 386, 393, 414
compound statement, 3
computer operating properly (COP), 131, 167, 219
concatenation, 74 conditional expression, 33 const keyword, 9-10 constant, 8-11
continue keyword, 9, 48 controlling DC motor, 254 conversion commands, 112 convolution, 332, 334, 341 cos(x), 117
Cosmic compiler, 221-230, 285, 293, 295, 305 318, 335, 349, 386
counter register, 184
CPU16 core processor, 288, 289-296
D
data compression, 237-245 data storage memory, 159 date function, 81, 119
DC motor control, 255-275 debouncing, 255, 275
debugging programs with user-specified inter rupts, 294
declaration statement, 4 decrement operators, 30-32 default keyword, 9 deference operator, 66 definition statement, 4
delay routine for MMC2001, 395-397, 401, 436, 446
development boards, 136
development environment for microcontroller programming, 134-137
Diab compiler, 393, 414 diagnostics, 119
digital input/output, 131 digital signal processor, 287
digital-to-analog converter (DAC), 209 Dirac Delta function, 335
display, LCD, 443-446 do keyword, 9
Index 449
do/while construct, 39-42
Do_interrupt( ), 417-418 dot product, 332
double keyword, 9, 28
DSP operations with microcontrollers, 326-345 M68HC16 and, 326-345
DSP register model, 327 dynamic debounce, 275 dynamic memory allocation, 101
E
EBDI, 394
EEPROM, 128, 153, 155, 159 Programming, 159
EK register, 290 else keyword, 9 enum, 9, 20-22
erasable programmable read-only memory (EPROM), 127, 153-154
escape sequence, 15
exception vector table, 290-291 exceptions, 125
exclusive OR, 28 exit, 60
expanded bus, 155 expression, 24-34
Extended Background Debug Interface, 394 extern keyword, 9, 15
external static variable, 13-14, 58
F
factorial, 62
fast interrupt enable register (FIER), 414 FFI instruction for MMC2001, 414 fgets, 111, 413
Fibonacci number, 62, 77 FIER register, 426
filter, 332
FIPND interrupt pending register, 414 flags, 113
FLASH memory, 128, 153 float keyword, 9
floating point variable type, 4, 11
for keyword, 9 for loop, 38-39
FOREVER loop, 174, 427 formatting, 113
Fourier transform, 333 fp, 110
fputs, 111
fractions, handling, 25 free( ), 115
function argument, 51 function prototype, 52, 432 functions, 8, 51-61
G
general purpose timer module (GPT), 288, 314 general purpose timer, 129
generic pointer, 69
get string functions, 413 getce( ) function, 411 getch function, 413
getchar, 17, 382-383, 409, 413 gets function, 72, 413
getse function, 413 goto keyword, 9, 48
“greater than” test vs. “is equal to” test, 423
H
handling interrupts on MMC2001, 413-419 Harvard architecture, 124
HC11E9.H header file, 258 hc16.h header file, 290
header files, 116, 171, 211-221 hexadecimal numbers, 11 Hoare, C.A.R., 231
Huffman code, 237-244, 350, 356, 361-368
I
IARB field, 302 if keyword, 9 if/else, 42-44
if-else if sequence, 44-48
450 Index
include, 2 inclusive OR, 28
increment operators, 30-32 index registers, 290
index, of array, 19
initialization section of program, 188 inituart( ) function, 409
input capture, 130, 185 MC68HC11 family, 253
input/output, 110, 129-134, 382-386 memory-mapped, 129
int, 2, 9, 11
integer variable type, 3
integrating keyboard and clock, 440-443 inter-modual bus (IMB), 288
interrupt controller, 414, 419 interrupt flag clear routine, 426
interrupt handler routine for MMC2001, 415 417, 425
interrupt pending register, 414 interrupt request, 125
interrupt service routine, 125, 252, 294, 415, 425-426
interrupt source register (INTSCR), 414 interrupt vectors, 290
interrupts, processing, 220, 301-302 for MMC2001, 413-419
IRQ, 125 isalnum(c), 117 isalpha(c), 117 iscntrl(c), 117 isdigit(c), 117 isgraph(c), 117 islower(c), 117 isprint(c), 117 ispunct(c), 117 ISR, 125, 220 isr_function, 418 isspace(c), 117 isupper(c), 117 isxdigit(c), 117
ITADR, 395, 402, 420, 425
ITDR, 395, 402, 420, 425 ITIE flag, 426
ITIF flag, 426
J
jsr R2 instruction, 418
K
kbhit( ) function, 411
KBSR register, 432 KDDR register, 432 keep, 14
key depress synchronizer, 434 key release interrupt, 434
keyboard interface for MMC2001 chip, 432-440 keywords in C, 9
KPCR register, 432 KPDR register, 432 KPKR register, 432
Kroniker Delta function, 333
L
label, 48
last in, first out (LIFO), 59 LCD display routines, 445 left shift operator, 29
letter analysis program, 359 library functions, 80, 116, 223 libserio.a archive library file, 413 local static variables, 13
log(x), 118 log10(x), 118 logic analyzer, 137 logical AND, 26 logical operator, 26 logical OR, 26 logical shift, 29 long, 9-10, 28
longjmp function, 49
look-up table with slopes, 320-322 looping construct, 6
eliminating, 325 lvalue, 69, 85
Index 451
M
M68HC08, 149
MAC multiplier input registers, 326 macro definition, 56, 60, 102 main( ), 1, 2, 3, 51, 427
malloc, 12, 101-102, 114 masked ROM, 127, 153 math functions, 117 MC68300, 288
MC68HC05 microcontroller, 142, 149 MC68HC05EVM, 152 MC68HC05EVS, 142
MC68HC11/12, 149, 211-286, 347-391 MC68HC16, 149, 287-296 MC68HC16EVB, 146
MCORE architecture, 131, 393-446 memory models, 336
memory allocation, 4, 10
memory management, 114-116, 156 memory types, 153 memory-mapped I/O, 129 microcomputer, 123 microprocessor, 123
MIX compiler, 386
MMC2001 microcontroller, 393 macros for, 400
mmc2001.h header, 400, 407 mnemonics, 140, 422 modular arithmetic, 334
modular program development, 347-349, 391 monitor routine, 370-376
motor control routines, 255-275 multidimensional arrays, 82-83
N
names, 8
nested functions, 52 nested if statements, 422 Newton loop, 38
NIPND interrupt pending register, 414 noise spikes, 219
noisy switches, 255
normal interrupt enable register (NIER), 414 null pointer, 76, 98
null, 19, 60
Number-to-character conversion, 424 numeric encoding/decoding, 352-356
O
one time programmable, 128 one’s complement, 28 operators, 24-34
optimizing code, 325 OPTION register, 159 OR, 26
OTP chip, 128, 154
output compare, 130-131, 185, 246-253 output_time function, 428
P
P&E Microcomputer Systems, Inc., 146 page zero, 158
parameters, copies of, 52 periodic interrupt, 309-315 phone book program, 360
PIT (see also programmable interval timer), 314 315, 395, 402, 419-420, 425
pointers, 65-121
and function arguments, 70 array name as, 69 assigning, 69
comparing, 68 incrementing/decrementing, 69 null, 98
subtracting, 69 to functions, 84
type void as applied to, 69 PORTA, 85, 109, 132
portable code, 296, 404
pragma directives (C6805 compiler), 151 pragma, 151
precedence, 7, 30, 33, 34-36 preprocessor command, 2 print formatting, 113
printf, 2, 3, 5, 7, 18, 112 printing routine, 378-380 program counter (PC), 289
452 Index
program flow and control, 36-51 program memory, 159
programmable interval timer (PIT), 314-315, 395, 402, 419-420
programmable timer, 246-251 programming hierarchy, 347-348 prototype, function, 52, 432 PSR register, 400
pull( ), 60
pulse width modulation program for MC68HC11, 245-251
pulse width modulation program for MC68HC16, 297-302
pulse width modulator (PWM), 201-207, 247 253, 255, 268
push( ), 60
put( ) function, 409, 411 putchar, 111, 382-383, 411 puts function, 382, 384, 413
Q
queued serial peripheral interface module (QSPI), 288
queued serial module (QSM), 305-308 quick sort, 231
R
RAM, 153
random access memory, 153 reading data from the keyboard, 371 read-only memory, 127
real time interrupt (RTI), 168, 176 realloc, 115
recursion, 61-63, 96, 157 recursive code, 324
reed switch, 268 re-entrant function, 61 register, 9, 13
relational operator, 26-27 reset function, 381-382 reset signal, 125, 169 reset time function, 428 return from interrupt, 126
return, 9
rfi instruction, 418 right shift operator, 29
RISC microcontrollers, 324, 393-446 ROM, 127, 153
RTI, 168, 176 RTS, 176 rvalue, 69
S
saving data to EEPROM, 376-378 SCCR1/SCCR2, 276
semaphore, 397-400, 403, 433 semicolon, use of in C, 53 sequence point, 11
serial communications control registers, 276 serial communications data register, 276 serial communications interface (SCI), 133
MC68HC11 family, 275-285 MC68HC16 family, 308
serial communications status register (SCSR), 276
serial I/O, 133
with MMC2001, 404-413
serial peripheral interface (SPI), 133 serial port, 382
SET INCLUDE, 2 setjmp function, 49, 119
Shell, D.L., 230 short, 9-10 signals, 119 signed, 9-10 sin(x), 117 sinh(x), 117 sizeof, 9, 34, 81
Software Development Systems (SDS), 393 software watchdog, 301
sort, 74-76, 230-237 bubble, 74 entry, 230
quick, 75, 230-237
Shell, 75, 230-231, 234, 236, 356 square, 56
SRAM, 288
Index 453
stack pointer (SP), 289 stack, 59
standard I/O, 119 static variables, 13-15 static, 9, 58
stdio.h header, 2, 3, 17, 52, 116 stdlib.h header, 101
STOP instruction, 169 storage classes, 12-15 strcat(s,t), 117 strchr(s,c), 117 strcmp(s,t), 117 strcpy(s,t), 117
string operations, 117 string, 2, 19
strlen, 72 strncat(s,t,n), 117 strncmp(s,t,n), 117 strncpy(s,t,n), 117 strrchr(s,c), 117 struct FILE, 110 struct, 9, 20, 23-24 structure tag, 88 structures, 87-106
pointers to, 88 self-referential, 95 types, 92
switch bounce, 255-258, 268 switch, 9, 20, 49-51 synchronous, 126
SYNCR register, 299
system integration module (SIM), 288, 296-297 chip selects, 298
external bus interface, 297 general purpose I/O, 298 interrupts, 298
reset and initialization, 298 system clock, 297
system configuration and protection mod ule, 297
T
table look-up, 318-325 tag, 88
talloc, 97, 102 tan(x), 11
TCNT, 246, 254
TCR, 168-169
telephone book function, 348 terminal emulator, 145 testing philosophy, 348
testing using evaluation boards, 142 TFLG1/2 registers, 304
time of day (TOD) clock, 419 time-of-day (TOD) clock, 131 timer control register (TCR), 181 timer counter register, 246
timer processor unit (TPU), 130 timer status register (TSR), 182
timer subsystems, 129-131, 166-173, 245-288, 419
TOF, 168 tolower(c), 117 toupper(c), 117 TPU, 130
trace buffer, 136
type conversions, 27-28 type declaration, 9-12 type, 9, 52
typedef, 9, 93
U
UART, 276
unary operators, 25 uninitialized interrupts, 415 union, 9, 20, 22-23, 107-108
universal asynchronous receiver transmitter (UART), 276
unsigned, 9
utility functions, 118
V
variable types, 4 variable, 8-10
vector assignment, 303
vector initialization routine, 293 vector table, 125, 387-388
454 Index
void, 3, 9, 53, 86 volatile, 9, 11, 227
Von Neumann architecture, 124, 129
W
wait routine, 409 WAIT, 169
watchdog timer, 131, 301, 419
weighting functions for digital filters, 333 while, 9, 17, 36-38, 72
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