Introduction to Microcontrollers: Architecture, Programming, and Interfacing for the Motorola 68HC12 (Academic Press Series in Engineering)

417 Pages·1999·46.83 MB·English

by  G. Jack Lipovski

Introduction to Microcontrollers
Architecture, Programming, and
Interfacing of the Motorola 68HC12
Academic Press Series in Engineering
Series Editor
J. David Irwin
Auburn University
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 a com-
prehensive group of books essential for success in modem industry. A particular emphasis
is 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
their design toolkit.
Published books in the series:
Industrial Controls and Manufacturing, 1999, E. Kamen
DSP Integrated Circuits, 1999, L. Wanhammar
Time Domain Electromagnetics, 1999, S. M. Rao
Single- and 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
Soft Computing and Intelligent Systems, 1999, N. K. Sinha, M. M. Gupta
Introduction to Microcontrollers
Architecture, Programming, and
Interfacing of the Motorola 68HC12
G. Jack Lipovski
Department of Electrical and Computer Engineering
University of Texas
Austin, Texas
ACADEMIC PRESS
A Harcourt Science and Technology Company
San Diego London Boston
New York Sydney Tokyo Toronto
Disclaimer:
This eBook does not include the ancillary media that was
packaged with the original printed version of the book.
This book is printed on acid-free paper. ©
Copyright © 1999 by Academic Press
All rights reserved.
No part of this publication may be reproduced or
transmitted in any form or by any means, electronic
or mechanical, including photocopy, recording, or
any information storage and retrieval system, without
permission in writing from the publisher.
Academic Press
A Harcourt Science and Technology Company
525 B. St., Suite 1900, San Diego, California 92101-4495, USA
http://www.apnet.com
Academic Press
24-28 Oval Road, London NW1 7DX, UK
http://www.hbuk.co.uk/ap/
Library of Congress Catalog Card Number: 99-65099
ISBN: 0-12-451831-1
Printed in the United States of America
99 00 01 02 03 DS 9 8 7 6 5 4 3 2 1
Dedicated to my father,
Joseph Lipovski
LIMITED WARRANTY AND DISCLAIMER OF LIABILITY
ACADEMIC PRESS ("AP") AND ANYONE ELSE WHO HAS BEEN INVOLVED IN THE
CREATION OR PRODUCTION OF THE ACCOMPANYING CODE ("THE PRODUCT") CAN-
NOT AND DO NOT WARRANT THE PERFORMANCE OR RESULTS THAT MAY BE
OBTAINED BY USING THE PRODUCT. THE PRODUCT IS SOLD "AS IS" WITHOUT WAR-
RANTY OF ANY KIND (EXCEPT AS HEREAFTER DESCRIBED), EITHER EXPRESSED OR
IMPLIED, INCLUDING, BUT NOT LIMITED TO, ANY WARRANTY OF PERFORMANCE
OR ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTIC-
ULAR PURPOSE. AP WARRANTS ONLY THAT THE MAGNETIC DISK(S) ON WHICH THE
CODE IS RECORDED IS FREE FROM DEFECTS IN MATERIAL AND FAULTY WORK-
MANSHIP UNDER THE NORMAL USE AND SERVICE FOR A PERIOD OF NINETY (90)
DAYS FROM THE DATE THE PRODUCT IS DELIVERED. THE PURCHASER'S SOLE AND
EXCLUSIVE REMEDY IN THE EVENT OF A DEFECT IS EXPRESSLY LIMITED TO
EITHER REPLACEMENT OF THE DISK(S) OR REFUND OF THE PURCHASE PRICE, AT
AP'S SOLE DISCRETION.
IN NO EVENT, WHETHER AS A RESULT OF BREACH OF CONTRACT, WARRANTY OR
TORT (INCLUDING NEGLIGENCE), WILL AP OR ANYONE WHO HAS BEEN INVOLVED
IN THE CREATION OR PRODUCTION OF THE PRODUCT BE LIABLE TO PURCHASER
FOR ANY DAMAGES, INCLUDING ANY LOST PROFITS, LOST SAVINGS OR OTHER
INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILI-
TY TO USE THE PRODUCT OR ANY MODIFICATIONS THEREOF, OR DUE TO THE CON-
TENTS OF THE CODE, EVEN IF AP HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
DAMAGES, OR FOR ANY CLAIM BY ANY OTHER PARTY.
ANY REQUEST FOR REPLACEMENT OF A DEFECTIVE DISK MUST BE POSTAGE PRE-
PAID AND MUST BE ACCOMPANIED BY THE ORIGINAL DEFECTIVE DISK, YOUR
MAILING ADDRESS AND TELEPHONE NUMBER, AND PROOF OF DATE OF PURCHASE
AND PURCHASE PRICE. SEND SUCH REQUESTS, STATING THE NATURE OF THE
PROBLEM, TO ACADEMIC PRESS CUSTOMER SERVICE, 6277 SEA HARBOR DRIVE,
ORLANDO, FL 32887, 1-800-321-5068. AP SHALL HAVE NO OBLIGATION TO REFUND
THE PURCHASE PRICE OR TO REPLACE A DISK BASED ON CLAIMS OF DEFECTS IN
THE NATURE OR OPERATION OF THE PRODUCT.
SOME STATES DO NOT ALLOW LIMITATION ON HOW LONG AN IMPLIED WARRANTY
LASTS, NOR EXCLUSIONS OR LIMITATIONS OF INCIDENTAL OR CONSEQUENTIAL
DAMAGE, SO THE ABOVE LIMITATIONS AND EXCLUSIONS MAY NOT APPLY TO YOU.
THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS, AND YOU MAY ALSO HAVE
OTHER RIGHTS WHICH VARY FROM JURISDICTION TO JURISDICTION.
THE RE-EXPORT OF UNITED STATES ORIGIN SOFTWARE IS SUBJECT TO THE UNITED
STATES LAWS UNDER THE EXPORT ADMINISTRATION ACT OF 1969 AS AMENDED.
ANY FURTHER SALE OF THE PRODUCT SHALL BE IN COMPLIANCE WITH THE UNIT-
ED STATES DEPARTMENT OF COMMERCE ADMINISTRATION REGULATIONS. COM-
PLIANCE WITH SUCH REGULATIONS IS YOUR RESPONSIBILITY AND NOT THE
RESPONSIBILITY OF AP.
Contents
Preface x i
List of Figures xiv
List of Tables xx
Acknowledgments xxi
About the Author xxii
1 Basic Computer Structure and the 6812 1
1.1 Basic Computer Structure 1
1.2 The Instruction 4
1.3 A Few Instructions and Some Simple Programs 8
1.4 MC68HC812A4 and MC68HC912B32 Organizations 16
1.5 Variable Word Width 19
1.6 Summary and Further Reading 21
Problems 23
2 The Instruction Set 27
2.1 Move Instructions 28
2.2 Arithmetic Instructions 34
2.3 Logic Instructions 38
2.4 Edit Instructions 41
2.5 Control instructions 42
2.6 Input-Output Instructions 49
2.7 Special Instructions 49
2.8 Remarks 51
Problems 53
3 Addressing 5 7
3.1 Op Code Byte Addressing Modes 58
.,2 Post-Byte Index Addressing Modes 60
3.3 Relative Addressing and Position Independence 67
3.4 Stack Index Addressing, Reentrancy, and Recursion 71
3.5 Examples 76
3.6 Architectural Notions of Addressing 78
vii i Table of Contents
3.7 Summary 81
Problems 82
4 Assembly Language Programming 87
4.1 Introductory Example and Assembler Printout 89
4.2 Assembler Directives 92
4.3 Mechanics of a Two-Pass Assembler 96
4.4 Character String Operations 99
4.5 A Simplified Two-Pass Assembler 103
4.6 Summary 107
Problems 109
5 Advanced Assemblers, Linkers, and Loaders 119
5.1 Cross Assemblers and Downloaders 119
5.2 Relocatable Assemblers and Loaders 123
5 3 Conditional Assemblers 125
5.4 Macro Assemblers 127
5.5 Documentation 130
5.6 Summary 132
Problems 133
6 Assembler Language Subroutines 137
6.1 Local Variables 139
6.2 Passing Parameters 149
6.3 Passing Arguments by Value, Reference, and Name 162
6.4 Calling and Returning Mechanisms 163
6.5 Summary 172
Problems 173
7 Arithmetic Operations 179
7.1 Multiplication and Division 180
7.2 Integer Conversion 183
7.3 From Formulas to Subroutine Calls 191
7.4 Long Integer Arithmetic 196
7.5 Floating-Point Arithmetic and Conversion 20.1
7.6 Fuzzy Logic 210
7.7 Summary 215
Problems 217
8 Programming in C and C++ 221
8.1 Compilers and Interpreters 221
8.2 Operators and Assignment Statements 223
8.3 Conditional and Loop Statements 226
Table of Contents ix
8.4 Constants and Variables 227
8.5 Procedures and Their Arguments 231
8.6 An Example 233
8.7 Object-Oriented Programming in C++ 236
8.8 Summary 245
Problems 246
9 Implementation of C Procedures 253
9.1 Global and Local Variables 254
9.2 Expressions and Assignment Statements 257
9.3 Conditional Statements 265
9.4 Loop Statements, Arrays, and Structs 274
9.5 Procedure Calls and Arguments 279
9.6 Examples from Character String Procedures 282
9.7 Summary 286
Problems 287
10 Elementary Data Structures 291
10.1 What a Data Structure Is 291
10.2 Indexable Data Structures 293
10.3 Sequential Data Structures 298
10.4 Linked List Structures 304
10.5 Summary 310
Problems 311
11 Input/Output 317
11.1 Input and Output Devices 317
11.2 Parallel Ports 320
11.3 Input and Output Software 322
11.4 Synchronization Hardware 325
11.5 Gadfly Synchronization 326
11.6 Interrupt Synchronization 329
11.7 Analog-to-Digital and Digital-to-Analog Conversion 334
11.8 UART Protocol 337
11.9 Summary and Further Reading 340
Problems 341
12 Other Microcontrollers 349
12.1 The 6811 349
12.2 The 6808 352
12.3 The 6805 356
12.4 The 68300 Series 358
12.5 The 500 Series 367