Designed to bring together interdependent topics in electrical engineering, mechanical engineering, computer engineering, and manufacturing, the Academic Press Series in Engineering provides state-of-the-art handbooks, textbooks, and professional reference books for researchers, students, and engineers. This series provides readers with acomprehensive group of books essential for success in modern industry. A particular emphasis s given to the applications of cutting-edge research. Engineers, researchers, and students alike will find the Academic Press Series in Engineering to be an indispensable part of heir design toolkit.

Published books in the series:

ndustrial Controls and Manufacturing, 1999, E. Kamen DSP Integrated Circuits, 1999, L. Wanhammar

Time Domain Electromagnetics, 1999, S. M. Rao

Singleand Multi-Chip Microcontroller Interfacing for the Motorola 68HC12,1999, G. J. Lipovski

Control in Robotics and Automation, 1999,B. K. Ghosh, N. Xi, T. J. Tarn

Singleand Multi-Chip

Microcontroller Interfacing

For the Motorola 68HC12

G. Jack Lipovski

Department of Electrical and Computer Engineering

University of Texas

Austin, Texas

ACADEMIC PRESS

San Diego London Boston

New York Sydney Tokyo Toronto

Dedicated to my mother, Mary Lipovski

reface			x i ii
ist	of	Figures	xvii
ist	of	Tables	xxi
cknowledgments			xxi
bout		the Author	xxiii
Microcomputer Architecture			I
	1.1 An Introduction to the Microcomputer		I
		1.1.1 Computer Architecture	2
		1.1.2 The Instruction	6
		1.1.3 Microcomputers	9
	1.2 The 6812 Instruction Set		11
		1.2.1 6812 Addressing Modes	11
		1.2.2 6812 Data Operator Instructions	16
		1.2.3 6812 Control Instructions	23
	1.3 Assembly-Language Directives		28
	1.4 Organization of 6812 Microcontrollers		31
		1.4.1 Notation for Block Diagrams	31
		.,4.2 6812 Microcontroller I/O and Memory Organization	31
		1.4.3 The MC68HC812A4 and MC68HC912B32 Memory Maps	35
	1.5 Conclusions		36
	Problems		38
Programming Microcomputers			45
	2.1 Introduction to C		46
	2.2 Data Structures		55
		2.2.1 Indexable Data Structures	57
		2.2.2 Sequential Data Structures	59
	2.3 Writing Clear C Programs		66
		2.3.1 C Procedures and Their Arguments	66
		2.3.2 Programming Style	72
		2.3.3 Object-Oriented Programming	73
		2.3.4 Optimizing C Programs Using Declarations	83
		2.3.5 Optimizing C Programs with Assembly Language	83
	2.4 Conclusions		84
	Problems		86

	Contents
3 Bus Hardware and Signals	93
3.1 Digital Hardware	94
3.1.1 Modules and Signals	94
3.1.2 Drivers, Registers, and Memories	97
3.2 Address and Control Signals in 6812 Microcontrollers	104
3.2.1 Address and Control Timing	104
3.2.2 Address and Control Signal Decoding	108
3.3 Conclusions	113
Problems	115

4.Parallel and Serial Input/Output

4.1I/O Devices and Ports

4.1.1Generic Port Architecture

4.1.2Generic Port Classes

4.1.3Debugging Tools

4.26812 Parallel Ports

4.2.1MC68HC812A4 Port Architecture

4.2.2MC68HC912B32 Port Architecture

4.2.3Programming of PORTA

4.2.4A Class for Ports with Direction Control

4.3Input/Output Software

4.3.1A Wire

4.3.2A Movie

4.3.3A Traffic Light Controller

4.3.4A Sequential Machine

4.3.5An IC Tester

4.3.6Object-oriented Vector Functions and Interpreters

4.4Input/Output Indirection

4.4.1Indirect Input/Output

4.4.2LCD Interfacing

4.4.3Synchronous Serial Input/Output

4.4.4The 6812 SPI Module

4.4.5Accessing Devices Using Vectors and structs

4.4.5.1Vector Access to Ports

4.4.5.2Vector Pointer Access to Ports

4.4.5.3Using #defines to Name Ports

4.4.5.4Struct Pointer Access to Ports

4.4.5.5Struct Access to Ports

4.4.6Indirect and Serial I/O Objects

4.5A Designer's Selection of I/O Ports and Software

4.6Conclusions

Problems

Contents
5 Interrupts and Alternatives	193
5.1 Programmed Synchronization	196
5.1.1 Real-time Synchronization	196
5.1.2 Gadfly Synchronization	198
5.1.2.1 MC68HC812A4 Gadfly Synchronization	199
5.1.2.2 MC68HC912B32 Gadfly Synchronization	200
5.1.2.3 Gadfly Synchronization Characteristics	200
5.1.3 Handshaking	200
5.1.4 Some Examples of Programmed I/O	201
5.1.5 Object-oriented Classes for Programmed I/O	204
5.2 Interrupt Synchronization	210
5.2.1 Steps in an Interrupt	210
5.2.1.1 Steps in an Interrupt in the MC68HC812A4	211
5.2.1.2 Steps in an Interrupt in the MC68HC912B32	212
5.2.1.3 Properties of Interrupt Synchronization	213
5.2.2 Interrupt Handlers and Critical Sections	214
5.2.2.1 A Handler That Changes a Global Variable	214
5.2.2.2 A Handler That Fills or Empties a Buffer	216
5.2.2.3 A Handler That Uses a Queue for Input	218
5.2.2.4 A Handler That Uses a Queue for Output	220
5.2.2.5 Critical Sections	221
5.2.3 Polled Interrupts	222
5.2.3.1 Polled Interrupts in the MC68HC812A4	222
5.2.3.2 Polled Interrupts in the MC68HC912B32	224
5.2.3.3 Service Routines	225
5.2.3.4 Round-robin Handlers	226
5.2.4 Vectored Interrupts	228
5.2.4.1 Vectored Interrupts in the MC68HC812A4	228
5.2.4.2 Vectored Interrupts in the MC68HC912B32	230
5.2.4.3 Vectored Interrupts for Other Devices	231
5.2.5 Examples of Interrupt Synchronization	231
5.2.5.1 Keyboard Handling	23 i
5.2.5.2 Interrupts for SPI Systems	235
5.2.5.3 Histograms and Histories for the MC68HC812A4	236
5.2.6 Object-oriented Classes for Interrupts	237
5.2.6.1 An IQFPort Class	237
5.2.6.2 An OQFPort Class	239
5.2.6.3 Polling IQFPort and OQFPort Classes	240
5.2.6.4 Bar-code Class	240
5.2.6.5 An X-10 Class	241
5.3 Time-Sharing	244
5.3.1 Real-timeInterrupts	244
5.3.2 Multithread Scheduling	245
5.3.3 Threads for Time-sharing	248
5.3.4 An Efficient Time Schedular	252
5.3.5 Special Instructions for Time-sharing	256

Contents

5.3.6Object-oriented Classes for Time-sharing

5.4Fast Synchronization Mechanisms

5.4.1Direct Memory Access

5.4.2Context Switching

5.4.3Memory Buffer Synchronization

5.5Conclusions

Problems

6	System Control	277
	6.1 6812 Chip Modes	277
	6.1.1 MODE Control Port	277
	6.1.2 Port E Assignment	279
	6.2 6812 Memory Map Control	280
	6.2.1 Internal Memory Map Control	280
	6.2.2 MC68HC812A4 Chip Selects	281
	6.2.3 MC68HC812A4 Memory Expansion	284
	6.2.4 Object-oriented Programming of Memory Expansion	285
	6.3 EEPROM and Flash Memory Programming	286
	6.4 MC68HC812A4 Timing Control	289
	6.5 An External Memory for the MC68HC812A4	290
	6.6 The 6812 Background Debug Module	295
	6.7 6812 Reset Handler	299
	6.8 Conclusions	301
	Problems	302
7	Analog Interfacing	307
	7.1 Input and Output Transducers	309
	7.1.1 Positional Transducers	309
	7.1.2 Radiant Energy Transducers	311
	7.1.3 Other Transducers	313
	7.2 Basic Analog Processing Components	314
	7.2.1 Transistors and Silicon Controlled Rectifiers	314
	7.2.2 Basic Linear Integrated Circuits	317
	7.2.3 Practical Linear Integrated Circuits	321
	7.3 OP AMP and Analog Switch Signal Conditioning	326
	7.3.1 Filters	327
	7.3.2 Selection of Inputs and Control of Gain	329
	7.3.3 Nonlinear Amplification	332
	7.4 Converters	334
	7.4.1 Digital-to-Analog Converters	334
	7.4.2 Analog-to-Digital Converters	338
	7.4.3 Voltage Conversion to or from Frequency	340
	7.5 Data Acquisition Systems	344
	7.5.1 Basic Operation of a Data Acquisition System	345
	7.5.2 The MC145040 A-to-D Converter	346
	7.5.3 The MC68HC812A4 A-to-D Converter	347

7.5.4 Object-oriented Programming of Converters	349
7.5.5 Applications in Control Systems	350
7.6 Conclusions	352
Problems	354
Counters and Timers	361
8.1 The MC68HC812A4 Counter/Timer Subsystem	362
8.2 Signal Generation	363
8.2.1 Output Compare Logic	364
8.2.2 The Counter/Timer Square-Wave Generator	365
8.2.3 The MC68HC912B32 PWM Signal Generator	366
8.2.4 A Touch-tone Signal Generator	369
8.2.5 The Pulse Generator	373
8.2.6 A Rotary Dialer	374
8.2.7 Real-Time Clock and Trace Mechanism	375
8.2.8 Output Compare 7	376
8.2.9 Object-oriented Square-wave and Pulse Generation	378
8.3 Frequency and Period Measurement	381
8.3.1 The Input Capture Mechanism and Period Measurement	381
8.3.2 Pulse-width Measurement	383
8.3.3 Triac Control	385
8.3.4 Pulse Accumulation and Frequency Measurement	385
8.3.5 Object-oriented Period, Pulse-width, and Frequency Measurements	387
8.4 Conclusions	388
Problems	390
. Communications Systems	397
9.1 Communications Principles	398
9.2 Signal Transmission	401
9.2.1 Voltage and Current Linkages	401
9.2.2 Frequency Shift-Keyed Links Using Modems	405
9.2.3 Infrared Links	407
9.3 UART Link Protocol	408
9.3.1 UART Transmission and Reception by Software	408
9.3.2 The UART	411
9.3.3 The ACIA	414
9.3.4 The M14469	417
9.3.5 The Serial Communication Interface System in the 6812	420
9.3.6 Object-oriented Interfacing to the SCI	423
9.4 Other Protocols	427
9.4.1 Synchronous Bit-oriented Protocols	427
9.4.2 MC68HC912B32 BDLC Device	430
9.4.3 IEEE-488 Bus Standard	432
9.4.4 The Small Computer System Interface (SCSI)	435
9.5 Conclusions	436
Problems	438

ii	Contents
10. Display and Storage Systems	445
10.1 Display Systems	446
10.1.1 NTSC Television Signals	446
10.1.2 A 6812 SPI Display	448
10.1.3 A Bitmapped Display	450
10.1.4 An Object-oriented Display	453
10.2 Storage Systems	455
10.2.1 Floppy Disk Format	455
10.2.2. The Western Digital 37C65C Floppy Disk Controller	459
10.2.3. Floppy Disk Interfacing Procedures	462
10.2.4 Personal Computer Disk Data Organization	466
10.2.5 Object-oriented Disk I/O	470
10.3 Conclusions	473
Problems	475
Appendix. Using the HIWAVE CD-ROM	481
Index	483

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