1. ME4447/6405 The George W. Woodruff School of Mechanical Engineering ME4447/6405 Microprocessor Control of Manufacturing Systems and Introduction to Mechatronics Instructor: Professor Charles Ume Lecture #9

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3. ME4447/6405 Reading Assignments Reading assignments for the next 4 weeks: HCS12 Microcontroller: S12CPUV2 Reference Manual CPU12RG/D: Rev. 2, 11/2001 Reference Book: Basic Microprocessors and the 6800, by Ron Bishop. Chapter 5Microcomputers-What Are They? Chapter 6Programming Concepts Chapter 7Addressing Modes Chapter 8M6800 Software There will be questions and answers the rest of this week and next week based on your reading assignment.

4. ME4447/6405 The George W. Woodruff School of Mechanical Engineering HCS12 CPU can only understand instructions written in binary called Machine Language. Writing programs in Machine Language is extremely difficult Mnemonics are simple codes, usually alphabetic, that are representatives of instructions they represent (example: LDAA [LoaD Accumulator A]) A program written using Mnemonic Instructions is called Assembly Language program An Assembler can be used to translate Assembly Language program to Machine Language Program, and put it in S-Record Format. Why use Assembly Language?

5. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Address: Common term for memory location. Always written in hexadecimal. $4000 is the 4000 th 16 Memory Location (Note: “$” signifies hexadecimal) LDAB$4000 Literal Value: A number used as data in program is indicated by “#”. Can be represented in the following ways: #$FF = hexadecimal number FF #%1011 = binary number 1011 (Note: “%” signifies binary) #123 = decimal number 123 LDAB#$FF;LDAB#$D01A A Literal Value can be stored in an address Example: Store Literal Value #$FF in address $4000 LDAB#$FF STAB$4000 Example 2: Store Literal Value #$FE0A in address $2000 LDD#$FE0A STD$2000 Note: #$FE is stored in address $2000 and #$0A is stored in address $2001 Assembly Language Notations

6. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Directives: Instructions from the programmer to Assembler NOT to microcontroller (Page 134 in Ron Bishop) Example 1: ORG Store translated/assembled machine language instructions in sequence starting at given address for any mnemonic instructions that follow ORG$1000 Example 2: END Stop translating/assembling mnemonics instructions until another ORG is encountered (Note: More will be covered in later lectures) Assembly Language Directives

7. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Assembly Language Format Left margin of assembly program A Tab (8 white spaces) or Label (Note: A Label is another Assembly Directive and will be covered in later lectures) Assembly Directive Or Mnemonic Instruction (Note: Last three options are called Operands) Data that the Assembly Directive uses Or Blank if Mnemonic Instruction does not need Data Or Offset Address used to modify Program Counter by a Mnemonic Instruction Or Data that Mnemonic Instruction uses Or Address where the Data that Mnemonic Instruction will use is stored

8. ME4447/6405 The George W. Woodruff School of Mechanical Engineering ORG$0800 LDAA#$100A86100A ---- DECA43 BNEFront270E LDAB$2F,Y-- STAB$110C-- ---- FrontINCX-- ---- SWI3F END

9. ME4447/6405 The George W. Woodruff School of Mechanical Engineering In the previous slide, there were several options for the operand: Blank if Mnemonic Instruction does not need Data Offset Address used to modify Program Counter by a Mnemonic Instruction Data that Mnemonic instruction uses Address were Data that Mnemonic instruction uses is stored Which option a programmer uses is defined by the following addressing modes: (See next slide also) Addressing Modes Direct Indexed Relative Inherent Immediate Extended Indexed Indirect (Note: All instructions are not capable of all addressing modes. Example: BLE [Branch if Less than or Equal to Zero] is only capable of Relative addressing mode)

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12. ME4447/6405 Example: Programming Reference Guide Page 6

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19. ME4447/6405 Blank if Mnemonic Instruction does not need Data If Mnemonic Instruction does not need data then it uses Inherent Addressing Mode Example: Write a program to clear accumulator A. Start programming at address $1000 Solution: ORG $1000 CLRA SWI END CLRA [ CLeaR accumulator A] is an instruction using Inherent Addressing (NOTE: SWI [SoftWare Interrupt] is a mnemonic instruction which tells the 9SC32 to store the content of cpu registers on the stack. Sets the I bit (the interrupt bit) on the CCR. Loads the program counter with the address stored in the SWI interrupt vector, and resumes program execution at this location. If no address is stored in the SWI vector, the main program will stop execution at this point. Used in this course to return control to Mon12 Program)

20. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Data that Mnemonic instruction uses The Mnemonic instruction is using Immediate Addressing mode if the operand is Data used by the instruction Example: Write a program to load accumulator A with #$12. Start programming at address $1000 Solution: ORG $1000 LDAA #$12LDAA #$5BEE (Explain what happens) SWI END LDAA is an instruction using Immediate Addressing mode in this example

21. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Address were Data that Mnemonic instruction uses is stored The following addressing modes apply if the operand is an Address containing Data used by Mnemonic instruction : Direct Data is contained in Memory locations $00 to $FF Address is given as a single byte address between $00 to $FF Instructions using Direct addressing has fastest access to memory Example: LDAA $00 Loads accumulator A with Data value stored at memory location $00 Extended Data is contained in Memory locations $0100 to $FFFF Address is given as a two byte address between $0100 to $FFFF Example: LDAA $2000 Loads accumulator A with Data value stored at memory location $2000

22. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Example Problem 1 Example : Write a program to add the numbers 10 10 and 11 10. Solution ORG $1000 LDAA#$0A*Puts number $0A in acc. A LDAB #$0B*Puts number $0B in acc. B ABA*Adds acc. B to acc. A STAA $00*Stores results in address $00 SWI*Software interrupt END LDAB and LDAA use immediate addressing mode STAA uses direct addressing mode

23. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Address were Data that Mnemonic instruction uses is stored (Continued) Indexed: Data is located within Memory locations $00 to $FFFF Example: Store content of $2003 in Register A LDX #$2000 LDAA $03,X Loads accumulator A with Data value stored at memory location $2003 X + $03 = $2000 + $03 = $2003 (Note: LDX [ LoaD index register X])

24. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Why is Indexed Addressing Mode needed? Example: Store Data Value #$20 into memory locations $2000 to $3000 Without Indexed Addressing Mode With Indexed Addressing Mode ORG $1000 LDAA #$20 STAA $2000 STAA $2001. STAA $3000 SWI END ORG $1000 LDAA #$20 LDX #$2000 LOOPSTAA $00,X INX CPX #$3001 BNE LOOP SWI END Program on the Left is much longer than the program on Right

25. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Why is Indexed Addressing Mode needed? (Continued) ORG $1000 LDAA #$20 LDX #$2000 LOOPSTAA $00,X INX CPX #$3001 BNE LOOP SWI END Note: LDAA[LoaD accumulator A] LDX [ LoaD Index Register X] STAA [ STore Accumulator A] INX [ INcrement X] CPX [ ComPare X] BNE [Branch if Not Equal] ( is using relative addressing in conjunction with label “LOOP”) LOOP, BNE LOOP, INX, and CPX #$3001 creates a loop. Loop1: Data in accumulator A (#$20) is stored at $2000 + $00 Data in X is incremented #$2000 + #$0001 = #$2001 Data in X is compared to #$3001 Not equal so do another loop Loop2: Data in Accumulator A (#$20) is stored at $2001 Data in X is incremented #$2001 + #$0001 = #$2002 Data in X is compared to #$3001 Not equal so do another loop Etc…..

26. ME4447/6405 The George W. Woodruff School of Mechanical Engineering ORG $1000 LDY #$1001 LDAA #$20 LDX #$2000 LOOPSTAA $00,X INX DECY BNE LOOP SWI END Why is Indexed Addressing Mode needed? Example: Store Data Value #$20 into memory locations $2000 to $3000

27. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Homework Homework 1 Write an assembly language program to clear the internal RAM in the MC9S12C32. Write a program to add even/odd numbers located in addresses $0800 through $0900. Homework 2 Write a program to find the largest signed number in a list of numbers stored in address $0A00 through $0BFF. Repeat for an unsigned number.

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29. ME4447/6405 Types of Indexed modes of Addressing Auto Pre-/Post-Increment/Decrement:  Base index register (X, Y and SP) may be automatically incremented/decremented before or after instruction  Program Counter may not be used as base register  No offset is available  May be incremented/decremented 1 to 8 times  Post-Increment (in ranges from 1 through 8): LDX 2,SP+EE B1 *Index register X is loaded with contents of memory location in stack pointer (same as PULX). Then stack pointer is incremented twice.

30. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Types of Indexed modes of Addressing  Pre-Increment (in ranges from 1 through 8): LDX 2,+SPEE A1 *Stack pointer is incremented twice. Then Index register X is loaded with contents of memory location in stack pointer  Pre-Decrement (in ranges from -8 through -1): STAA 1,-X 6A 2F*Index register X is decremented. Then content of Accumulator A is stored in memory location in Index Register X

31. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Types of Indexed modes of Addressing  Learning Objectives:  Learn how to use following in index mode of addressing instructions:  5-bit signed constant offset: -16 to +15  9-bit signed constant offset: -256 to +255  16-bit signed constant offset: -32768 to +32767  Accumulator offset  16-bit constant indirect indexed  Learn how to use following base index registers for instructions:  X, Y, SP and PC  Note that when:  Offset is added to base index register to form effective address.  Content of base register remains unchanged.

32. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Types of Indexed modes of Addressing 5-Bit Constant Offset Indexed Addressing: -16 to +15  Index mode uses:  5-bit signed constant offset is added to base index register (X, Y, SP or PC)  To form effective address of memory location that will be affected by instruction.  Offset ranges from -16 through +15.  Majority of indexed instructions in real programming use offsets that fit in shortest 5-bit form of indexed addressing. LDAA $00, XA6 00*load A with (X + $00)

33. ME4447/6405 The George W. Woodruff School of Mechanical Engineering The following three statements are equivalent: STAA -8,X 6A 18 *Offset given in decimal STAA -$08,X 6A 18 *Offset given in hex STAA $FFF8,X 6A 18 *Offset given as 16-bit number Let X contain #$3000. After program executed, content of A will be stored at address (#$3000 - #$08) = $2FF8 $FFF8 = 1111 1111 1111 1000 0000 0000 0000 0111 1 --------------------------------------------- - 0000 0000 0000 1000 = - #$0008

34. ME4447/6405 The George W. Woodruff School of Mechanical Engineering (Page 21) Base index register rr X00 Y01 SP10 PC11

35. ME4447/6405 The George W. Woodruff School of Mechanical Engineering 5-bit Constant offset : -16 to +15 LDDA -16, X A6 10:-16 = -$10 $10 = 00010000 1’s Comp = 11101111 2’s Comp = 11110000 rr0nnnnn = 00010000 = $10 (this is the postbyte) bits 0-4 of offset LDAA 6, SP A6 86:6 = $06 = 00000110 rr0nnnnnn = 10000110 = $86 (this is the postbyte) bits 0-4 of offset LDAA –14, SPA6 92-14 = -$0E 0E = 00001110 1’s Comp = 11110001 2’s Comp = 11110010 rr0nnnnn: 10010010 = $92 (this is the postbyte) bits 0-4 of offset

36. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Types of Indexed modes of Addressing 9-Bit Constant Offset Indexed Addressing: -256 through +255  Uses 9-bit signed constant offset which is added to base index register (X, Y, SP or PC):  To form effective address of memory location affected by instruction  Offset ranges from -256 through +255.  Content of base register is not changed after instruction is executed  MSB (sign bit) of offset is included in instruction postbyte  Remaining 8 bits are provided as extension byte after instruction postbyte in instruction flow. LDAA $FF, X*Assume X contains $1000 prior to instruct is executed A6 E0 FF LDAB -20, Y*Assume Y contains $2000 prior to instruct is executed E6 E9 EC First instruction will load A with value from ($1000 + $FF) = $10FF Second instruction will load B with value from ($2000 – 20) = $IFEC

37. ME4447/6405 The George W. Woodruff School of Mechanical Engineering (Page 21) Base index register rr X00 Y01 SP10 PC11 9-bit Constant offset : -256 to +255 Postbyte Code (xb) is = 111rr0zs Z = 0 and s = 1 (when offset is a negative number-MSB of offset) Z = 0 and s = 0 (when offset is a positive number-MSB of offset)

38. ME4447/6405 The George W. Woodruff School of Mechanical Engineering 9-bit Constant offset : -256 to +255 LDAA -25, X A6 E1 E7:-25 = -$19 $19 = 00011001 1’s Comp = 11100110 2’s Comp = 11100111 = $E7 (this is the offset) 111rr0zs = 11100001 = E1 (this is the postbyte) LDAA 30, SP A6 F0 1E:30 = $1E (this is the offset) = 00011110 111rr0zs = 11110000 = F0 (this is the postbyte)

39. ME4447/6405 The George W. Woodruff School of Mechanical Engineering (Page 21) Base index register rr X00 Y01 SP10 PC11 Types of Indexed modes of Addressing 16-bit Constant offset : -32768 to +32767

40. ME4447/6405 The George W. Woodruff School of Mechanical Engineering 16-bit Constant offset : -32768 to +32767 Postbyte Code (xb) is = 111rr0zs  Z = 1 and s = 0 : For the case when the offset is positive or negative.  S is not = 1 during postbyte calculation when the offset is negative because  Bit 15 of the 2’s complement offset is already 1 which  Indicates a negative offset number Postbyte for positive offset is same as postbyte for negative offset ie EA

41. ME4447/6405 The George W. Woodruff School of Mechanical Engineering 16-bit Constant offset : -32768 to +32767 Postbyte code (xb) is 111rr0zs LDAA 280, yA6 EA 0118 280 = $0118 = 0000000100011000 (this is the offset) 111rr0zs = 11101010 = $EA (this is the postbyte) LDAA -280, Y A6 EA FE E8 -280 = -$0118 $0118 = 0000000100011000 1’s Comp. = 1111111011100111 2’s Comp. = 1111111011101000 = $FEE8 (this is the offset) 111rr0zs = 11101010 = $EA (this is the postbyte)

42. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Types of Indexed modes of Addressing Accumulator Offset Indexed Addressing  In this indexed addressing mode:  Effective address is sum of values in base index register and unsigned offset in one of accumulators.  Value in base index register is not changed.  Base indexed register can be X, Y, SP or PC and accumulator can be either 8-bit (A or B) or 16-bit (D)  Content of A, B, or D accumulator added to base index register to form address LDAAB, XA6 E5 Instruction adds content of accumulator B to X register to form address from which accumulator A will be loaded. B and X are not changed by this instruction.

43. ME4447/6405 The George W. Woodruff School of Mechanical Engineering (Page 21) Base index register rr X00 Y01 SP10 PC11 Example: LDAA B, X Ans: A6 E5 Detailed Explanation: This is Indexed Addressing Mode with Accumulator Offset. Opcode for LDAA is A6 for this mode. From the table above, the formula for postbyte of this mode is: 111rr1aa rr is 00 because Base Index Register is X aa is 01 because Accumulator used for offset is B 11100101 = E5 in hex

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48. ME4447/6405 Indexed Addressing Mode Postbyte Encoding (xb)

49. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Indexed Addressing Mode Postbyte Encoding (xb) - Continued

50. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Why is Pre-/Post-Increment/Decrement Useful? Example: Store Data Value #$20 into memory locations $2000 to $3000 Without Post-Increment With Post-Increment ORG $1000 LDAA #$20 LDX #$2000 LOOPSTAA $00,X INX CPX #$3001 BNE LOOP SWI END ORG $1000 LDAA #$20 LDX #$2000 LOOPSTAA 1,X+ CPX #$3001 BNE LOOP SWI END Program on the Left requires 1 more byte of program memory and takes 1 more cycle to execute per run through the loop than the program on the right. This may make a large difference when the program is large and complex or when dealing with values larger than 16-bits. Note: “1” refers to the number of post increments, not an offset!

51. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Types of Indexed modes of Addressing - Continued  16-Bit constant indirect indexed addressing  Indexed addressing mode adds 16-bit instruction-supplied offset to  Base indexed register to form address of memory location that contains pointer to memory location affected by instruction.  Instruction itself does not point to address of memory location to be acted on.  Square brackets distinguished this addressing mode from 16-bit constant offset indexing.

52. ME4447/6405 The George W. Woodruff School of Mechanical Engineering 16-Bit constant indirect indexed addressing LDAA[10, X] or LDAA[$0A, X]  Assume: X holds base address of table of pointers X has initial value of $1000 #$2000 is stored at addresses $100A and $100B  When instruction is executed: #$0A is added to value in X to form address $100A Address pointer ($2000) is fetched from memory $100A Value stored in $2000 is read and loaded into A accumulator

53. ME4447/6405 The George W. Woodruff School of Mechanical Engineering 16-Bit Constant Indirect Indexed Addressing ORG$1000 LDAB#$EE STAB$0400*#$EE stored at $0400 LDD#$0400 STD$5DBC*#$0400 stored at $5DBC & $5DBD LDX#$5D00*X contains #$5D00 LDAA[$BC, X]*#$BC added to value in X to form ………… address $5DBC. Address pointer $0400......……fetched from memory at $5DBC. Value (EE) store in $0400 read & loaded in Acc. A…… SWI END Types of Indexed modes of Addressing - Continued

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55. ME4447/6405 As stated before the Assembler translates an assembly language program into a machine language program Format of machine language program Address where instruction is located Operand Or Blank if instruction does not use Operands Instruction Opcode (Note: This format is for Lecture and Tests only !! The real format the assembler outputs is “S19” and will be shown to you in Lab) Postbyte

56. ME4447/6405 The George W. Woodruff School of Mechanical Engineering All Mnemonics and associated Op-codes can be found in Programming Reference Guide pages 6-19 Example: Programming Reference Guide Page 12 (Note: LDAA outlined in red) Postbyte and Opcode Reference

57. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Indexed Addressing Mode Postbyte Encoding (xb)

58. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Indexed Addressing Mode Postbyte Encoding (xb) - Continued

59. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Postbyte allows an op-code to be used for more than one instruction. Determined from Tables 1, 3 or 4 in the programming reference guide Postbyte InstructionOpcodePostbyte LDAA 0,XA600 LDAA $02,SP+A6B1 LDAA B,YA6ED SUBB $1040,XE0E2 SUBB D,YE0EE SUBB -14,XE012 Table 1 (Excerpt)

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64. ME4447/6405 ORG $1000 LDAA #$0A LDAB#$0B ABA STAA $00 SWI END Hand Assembling Example: Assemble the following Program $1000 86 0A $1002 (Note: $1002 since $86 is now at $1000 and $0A is at $1001) C6 0B $100418 06 $1006 5A 00 $1008 3F Address OpcodePostbyte Operand

65. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Example Problem 1 (revisited) ORG$1000 LDAB #$0A*Load acc. B with number 0A STAB$1100*Store acc. B in address $1100 INCB*Increment acc. B by 1 ADDB $1100*Add memory location $1100 *to acc. B STAB $1090*Store acc. B in address $1090 SWI*Software interrupt END

66. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Hand Assemble Example Problem 1 (Revisited) ORG $1000 LDAB #$0A STAB $1100 INCB ADDB $1100 STAB $1090 SWI END Address OpcodePostbyte Operand 1000 C6 0A 10027B 1100 100552 1006FB 1100 10097B 1090 100B3F

67. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Example Problem 2 Write a short assembly language program that stores the content of Port T in memory location $3000 after waiting for 0.05 seconds for the input data. Solution Recall: One machine cycle = 0.125 x 10 -6 s (8 MHz Bus Clock) We want the HCS12 to wait 0.05 s/0.125 x 10 -6 s = 400,000 cycles One good way to make the HCS12 wait is to create a loop.

68. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Wait Loop LDY #$AD9C2 cycles LDD #$00002 cycles LOOP ABA2 cycles CPX $20003 cycles DEY1 cycle BNE LOOP3 cycles Assume the number of loops needed to wait is 2 bytes (2 + 3 + 1 + 3)*X + 4 = 400,000 cycles X = 44,444 10 = $AD9C Note: These instructions are included to increase the operation time

69. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Example 2 Solution Solution *Remember that Port T is input upon reset ORG$1000 LDY #$AD9C*Load Y with 44,444 10 LDD #$0000*Clear Accumulator D LOOP ABA*Add the contents of B to A CPX $2000*Compare X with the contents of *$2000 DEY*Decrement Y BNE LOOP*Branch to LOOP if Y is not equal *to zero LDAB $0240 *Load acc. B with content of $0240 STAB $3000 *Store content of acc. B in $3000 SWI *Software Interrupt END

70. ME4447/6405 The George W. Woodruff School of Mechanical Engineering Homework Homework 1 Write an assembly language program to clear the internal RAM in the MC9S12C32. Write a program to add even/odd numbers located in addresses $0800 through $0900. Homework 2 Write a program to find the largest signed number in a list of numbers stored in address $0A00 through $0BFF. Repeat for an unsigned number.

71. ME4447/6405 The George W. Woodruff School of Mechanical Engineering QUESTIONS???