;*********************************************** ;* Program : ;* Programmer: Tony Papadimitriou ;* Purpose : ;* Language : MC68HC11 (ASM11 v1.84+) ;* Status : The status of this program skeleton is FREEWARE ;* History : 99.xx.xx Version 1.00 Original ;*********************************************** #EXTRAON ; Allow extra mnemonics #OPTRELON ; Show optimization warnings for JMP/JSR #OPTRTSOFF ; Do not show optimization warnings for JSR/BSR, RTS #SPACESOFF ; Do not allow spaces within expressions (v1.48 or later) #ifdef ? #message 旼컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴 #message � Available conditionals (for use with -Dx option) #message 쳐컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴 #message � DEBUG: for SIM11x runs (faster bps, etc.) #message � E2: Target is 811E2 MCU #message � E9: Target is 711E9 MCU #message � F1: Target is 11F1 MCU (single-chip mode) #message � ASPISYS: When F1 is also defined, target is the #message � ���������ASPiSYS F1 Board (32K+32K expanded mode) #message � MAP: OS11 Modules with source-level MAP info #message � NOINTS: Polled mode SCI routines #message � FORCEILLOP: Force the ILLOP test (DEBUG) #message 읕컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴컴 #fatal Run ASM11 -Dx (where x is any of the above) #endif #listoff ; Turn off listing of equates #ifdef E9 #include 711E9.INC ; MC68HC711E9 equates #else #ifdef E2 #include 811E2.INC ; MC68HC811E2 equates #else #ifdef F1 #ifdef ASPISYS #include EXP-F1.INC ; ASPiSYS expanded F1 board #else #include 11F1.INC ; Single-Chip 11F1 #endif #else #fatal You haven't defined MCU type (-D? for help) #endif #endif #endif #include COMMON.INC ; MCU-independent equates #liston ; Turn listing back on for main program #ifdef DEBUG #message DEBUG Mode Assembly (do NOT burn device) #endif #push ;save switches #mapoff ;Default is no MAP #ifdef MAP #message Source-level MAP for OS11 modules #mapon ;turn source-level info ON #endif #SEG9 ORG $FF00 ;beginning of OS call entries table #listoff #include OS11/OSERRORS.INC ; OS module error definitions ; --- add here (or enable) whatever modules are needed by your application --- ; #INCLUDE OS11/COMMAND.MOD ;Command processor ; #INCLUDE OS11/CRC.MOD ;CRC calculation ; #INCLUDE OS11/EEPROM.MOD ;EEPROM OS calls ; #INCLUDE OS11/LCD.MOD ;LCD OS calls ; #INCLUDE OS11/MTOS.MOD ;Multi-tasking kernel and OS calls ; #INCLUDE OS11/QUEUE.MOD ;Queue OS calls ; #INCLUDE OS11/S19.MOD ;S19 loader (OS call) #ifdef NOINTS ;polled-mode version of SCI routines #INCLUDE OS11/SCI.MOD ;Polled SCI-related OS calls #else ;interrupt-driven version of SCI routines #INCLUDE OS11/SCI_INT.MOD ;Interrupt SCI-related OS calls #endif ; #INCLUDE OS11/STACK.MOD ;Stack OS calls ; #INCLUDE OS11/STRINGS.MOD ;String operations #INCLUDE OS11/MISC.MOD ;Miscellaneous OS calls ; The following module must be included last to correctly account for all others #INCLUDE OS11/DISPATCH.MOD ;OS call dispatcher #pull ;restore switches #PAGE ;********************************************************************* ;* LOCAL EQUATES * ;********************************************************************* SECOND_DELAY equ 122 ;~1 sec delay at 8.2ms RTI #PAGE ;********************************************************************* ;* USER RAM AND STACK ORGANIZATION * ;********************************************************************* #RAM #ifdef DEBUG ; Used by sample code timer rmb 1 ;sample used by RTI #endif ; ; ------------- add your global variables here ---------------------- ; #PAGE ;********************************************************************* ;* PROGRAM CODE * ;********************************************************************* #ROM ; The following is a standard block of information to be found in every program Prog.Name db 'xxxxxxxx' ;Program Name Prog.Author db 'xxxxxxxxxxxxxxxxx' ;Programmer's Name Prog.Company db 'xxxxxxxxxxxxx' ;Company name Prog.Version db 1,0 ;Major, minor version numbers Prog.Date db $99,$01,$01 ;Date in YY,MM,DD in BCD format #push #mapoff -- Turn mapping off InitUserVars equ * ; first, clear all RAM except for stacked data pshx tsx ?ClearRAM.Loop dex clr ,x cmpx #0 bne ?ClearRAM.Loop pulx ; next, set specific non-zero values ; ; ---------------- add your code here -------------------------------- ; rts ;***** ;* InitMCU - Initialize the MCU ;***** InitMCU equ * ; --- NOTE: The following STAs must occur within next 53 cycles (64 cycle-limit) ;Setup INIT (even the default reset value is required if using a PRU) lda #REGS>12 ;Changing REGS will affect this line! ;$103D must be hardcoded or it won't work, do NOT use INIT because it may not be $103D sta $103D ;RAM and I/O Mapping lda #IRQE. ;IRQ edge triggered (use your own value here) sta OPTION ;System Configuration Options ;setup timer prescaler (for TOF, etc.) lda #%11 ;(use your own value here) sta TMSK2 ;Timer Interrupt Mask 2 ; --- NOTE: The following STAs will affect write-once register bits (even outside 64-cycle limit) ldx #REGS ;X points to register base bset [HPRIO,x,Bit4. ;Turn off E-clock output (for single chip mode) ; --- #ifdef ASPISYS+F1 jsr SetChipSelects ;Set the Chip Selects for expanded mode F1 #endif #ifdef DEBUG clrd ;SIM11x doesn't like uninitialized regs clry #endif bsr InitPortDirs bsr InitRTI bsr InitSCI bsr InitSPI bsr InitAD rts ********************************************************************* ; --- Initialize Port Directions and status (where applicable) InitPortDirs clr PORTA ;zero all port data #ifndef F1 clr PORTB clr PORTC #endif clr PORTD clr PORTE ; now, set port pin directions lda PACTL ora #%00000000 ;use appropriate value ; only these two bits ^___^___ may be set for PA7 and PA3 sta PACTL #ifndef F1 lda #%00000000 ;(use your own value here) sta DDRC #endif lda #%00000000 ;(use your own value here) sta DDRD rts ; --- Initialize the Real-Time Interrupt (8.2ms RTI @ 2MHz MCU E-Clock) InitRTI lda PACTL anda #%11111100 ;mask off RTR0:1 bits ora #%01 ;(use your own RTR0:1 bits) sta PACTL bset [TMSK2,x,RTIF. ;Enable RTI subsystem (set RTTI bit) rts ; --- Initialize the Serial Communications Interface for 9600bps, 8-N-1 InitSCI lda #BPS_RATE os fSetBAUD rts ; --- Initialize the Synchronous Peripheral Interface InitSPI bset [DDRD,x,%00111000 ;SPI will be a Master lda #%01010000 ;Turn SPI on for polled mode sta [SPCR,x rts ; --- Initialize the Analog-to-Digital Converter InitAD lda #$00 ;(use your own value here) sta ADCTL rts #pull ;************************************************************ ;* CODE EXECUTION STARTS HERE * ;************************************************************ Start lds #STACKTOP ;Initialize the Stack Pointer bsr InitMCU ;Initialize the MCU bsr InitUserVars ;Initialize User variables cli ;Enable interrups Main equ * ; ; ---------------- add more instructions here ------------------------ ; #ifdef DEBUG ; Sample code follows for demonstrating how to make OS calls BUFSIZE EQU 11 os fPrint fcs CR,LF,'Program begins...',CR,LF getx #BUFSIZE ;allocate temporary buffer at X lda #BUFSIZE-1 ;get buffer length sta ,x ;and put it in buffer[0] lda #$FF ;starting A/D value to convert ADLoop inx ;X->buffer[1] os fConvertAD dex ;X->buffer[0] os fWriteln deca bne ADLoop givex #BUFSIZE ;de-allocate temporary buffer from X ; Sample main loop lda #SECOND_DELAY ;set up a ~1 second delay sta timer MainLoop wait ;Enable ints and wait for one os fPrint ;Display a dot after each interrupt fcs '.' bsr ServiceRequests ;Service each request in detail bra MainLoop ServiceRequests tst timer ;is timer expired? bne ServiceRequests.Out ;no, get out of here os fPrint ;Display a message when timer expires fcs CR,LF,'[Timer Reset]',CR,LF lda #SECOND_DELAY ;reset timer sta timer #ifdef FORCEILLOP #message Forces Illegal Opcode test os 255 ;FORCE ILLEGAL OPCODE TRAP TEST #endif ServiceRequests.Out rts #endif ; ; ---------------- add more instructions here ------------------------ ; #if *-Main > 126 ;decide if we can use a long or short jump (not for forwards) jmp Main #else bra Main #endif #PAGE ;********************************************************************* ;* INTERRUPT SERVICE ROUTINES * ;********************************************************************* #ROM ;********************************************************************** ;* RTI - Real Time Interrupt requests come here * ;********************************************************************** RTI_Handler equ * ; ; ---------------- add your code here -------------------------------- ; #ifdef DEBUG ; Sample code below decrements timer until it reaches zero tst timer ;is timer expired? beq RTI_Exit ;yes, get out dec timer ;decrement timer #endif ; ; ---------------- add your code here -------------------------------- ; RTI_Exit ldx #REGS bclr [TFLG2,x,#NOT^$40 ;Reset the RTI int rti ;********************************************************************** ;* IRQ - External Interrupt requests (IRQ and STRA) come here * ;********************************************************************** IRQ_Handler #ifndef F1 ;the following section does not apply to F1 MCUs lda PIOC ;Determine if IRQ was from STRA bita #STAF. ;Is the STAF set? beq IRQ_Pin ;No, go to IRQ pin interrupt lda PORTCL ;Read latched data to clear STAF ; ; ---------------- add your code here -------------------------------- ; rti IRQ_Pin equ * #endif ; ; ---------------- add your code here -------------------------------- ; IRQ_Exit rti ;********************************************************************** ;* SPI - Serial Peripheral Interface requests come here * ;********************************************************************** SPI_Handler ldb SPSR bpl SPI_Exit lda SPDR ;get received data ; ; ---------------- add your code here -------------------------------- ; SPI_Exit rti ;********************************************************************** ;* PAI - Pulse Accumulator Input interrupt requests come here * ;********************************************************************** PAI_Handler equ * ; ; ---------------- add your code here -------------------------------- ; lda #Bit5. ;Reset the interrupt sta TFLG2 PAI_Exit rti ;********************************************************************** ;* PAO - Pulse Accumulator Overflow interrupt requests come here * ;********************************************************************** PAO_Handler equ * ; ; ---------------- add your code here -------------------------------- ; lda #Bit4. ;Reset the interrupt sta TFLG2 PAO_Exit rti ;********************************************************************** ;* RTO - Real Time Overflow interrupt requests come here * ;********************************************************************** RTO_Handler equ * ; ; ---------------- add your code here -------------------------------- ; lda #Bit7. ;Reset the interrupt sta TFLG2 RTO_Exit rti ;********************************************************************** ;* TIC4/TOC5 - TIC4 and/or TOC5 interrupt requests come here * ;********************************************************************** TIC4_Handler equ * ; ; ---------------- add your code here -------------------------------- ; TIC4_Exit rti ;********************************************************************** ;* TOC3 - TOC3 interrupt requests come here * ;********************************************************************** TOC3_Handler equ * ; ; ---------------- add your code here -------------------------------- ; TOC3_Exit rti ;********************************************************************** ;* TOC2 - TOC2 interrupt requests come here * ;********************************************************************** TOC2_Handler equ * ; ; ---------------- add your code here -------------------------------- ; TOC2_Exit rti ;********************************************************************** ;* TOC1 - TOC1 interrupt requests come here * ;********************************************************************** TOC1_Handler equ * ; ; ---------------- add your code here -------------------------------- ; TOC1_Exit rti ;********************************************************************** ;* TIC3 - TIC3 interrupt requests come here * ;********************************************************************** TIC3_Handler equ * ; ; ---------------- add your code here -------------------------------- ; TIC3_Exit rti ;********************************************************************** ;* TIC2 - TIC2 interrupt requests come here * ;********************************************************************** TIC2_Handler equ * ; ; ---------------- add your code here -------------------------------- ; TIC2_Exit rti ;********************************************************************** ;* TIC1 - TIC1 interrupt requests come here * ;********************************************************************** TIC1_Handler equ * ; ; ---------------- add your code here -------------------------------- ; TIC1_Exit rti ;********************************************************************** ;* XIRQ - External Interrupt requests come here * ;********************************************************************** XIRQ_Handler equ * ; ; ---------------- add your code here -------------------------------- ; ; make sure we don't re-enter this routine (optional) tsx bset CCR_,x,#X. ;Disable further XIRQs XIRQ_Exit rti ;********************************************************************** ;* ILLOP - Illegal Opcode Interrupt requests come here * ;* Display a message with the offending PC address in hex and halt * ;* If stack isn't usable (due to possible corruption) simply halt * ;* Stack Needed: 22 (9 for caller + 13 for calls without subs) * ;********************************************************************** ILLOP_Handler tsx ;First, check stack availability cmpx #RAM+30 ;Is enough stack space available? blo ILLOP_Halt ;No, show simple message only cmpx #STACKTOP-9 ;Is it above possible stack top (after call)? bhs ILLOP_Halt ;Yes, show simple message only bsr ILLOP_SetSCI ;Reset the SCI to 9600bps 8-N-1 bcs ILLOP_Exit ;SCI setup failed, don't show message tsy ;get pointer to stack frame in Y #ifndef NOINTS ;in the interrupt-driven version cli ;enable interrupts for SCI_INT #endif os fPrint ;print first part of message fcs 'Illegal opcode at $' ldx #'00' ;create buffer on stack (4 bytes) pshx:2 ;..initialized to string '0000' tsx ;and get its pointer in X lda #16 ;conversion base sta ,x ;..set in buffer[1] ldd PC_,y ;get offending PC address in RegD ; Display the offending address ldy #4 ;the length of the buffer in Y os fBin2BCD ;do the conversion of PC address to hex lda #4 ;and a fifth byte with the length psha dex ;point to beginning of string os fWrite ;and print hex PC address ins ;restore stack (faster than PULA) pulx:2 os fPrint fcs '. ' ILLOP_Halt lds #STACKTOP ;we can safely reset the stack now bsr ILLOP_SetSCI ;Reset the SCI to 9600bps 8-N-1 bcs ILLOP_Exit ;SCI setup failed, don't show message os fPrint fcs 'System halted!' ldx #1000 os fDelayMS ILLOP_Exit jmp Halt_MCU ;Go wait for processor RESET ILLOP_SetSCI ldx #1000 os fDelayMS lda #BPS_RATE ;Next, re-set the SCI os fSetBAUD ;..by random code rts ;********************************************************************** ;* COP - Computer Operating Properly RESET requests come here * ;********************************************************************** COP_Handler equ * ; ; ---------------- add your code here -------------------------------- ; COP_Exit jmp Start ;Cannot return with RTI ;********************************************************************** ;* CMF - Clock Monitor Failure RESET requests come here * ;********************************************************************** CMF_Handler equ * ; ; ---------------- add your code here -------------------------------- ; CMF_Exit jmp Start ;Cannot return with RTI ; ------------------ VECTOR SETUP -------------------- #VECTORS org *+2 ;SCI Handler (in SCI_INT.MOD) dw SPI_Handler ;SPI dw PAI_Handler ;Pulse Accumulator Input dw PAO_Handler ;Pulse Accumulator Overflow dw RTO_Handler ;Timer Overflow dw TIC4_Handler ;TIC4 / TOC5 org *+2 ;Timer Output Compare 4 (in MTOS.MOD) dw TOC3_Handler ;Timer Output Compare 3 dw TOC2_Handler ;Timer Output Compare 2 dw TOC1_Handler ;Timer Output Compare 1 dw TIC3_Handler ;Timer Input Capture 3 dw TIC2_Handler ;Timer Input Capture 2 dw TIC1_Handler ;Timer Input Capture 1 dw RTI_Handler ;Timer interrupt dw IRQ_Handler ;IRQ for module select dw XIRQ_Handler ;XIRQ org *+2 ;SoftWare Interrupt (in DISPATCH.MOD) dw ILLOP_Handler ;Illegal Opcode Trap dw COP_Handler ;COP Failure (RESET) dw CMF_Handler ;Clock Monitor Failure (RESET) dw Start ;RESET vector #ifnz * #error Incorrect or misplaced vectors #endif end Start