ME4447/6405 ME 6405 - Georgia Institute of Technologyume.gatech.edu/mechatronics_course/lecture5.pdf · ME4447/6405 ME 6405 Introduction to Mechatronics Fall 2005 Instructor: Professor

George W. Woodruff School of Mechanical Engineering, Georgia TechGeorge W. Woodruff School of Mechanical Engineering, Georgia Tech

ME4447/6405ME4447/6405

ME 6405Introduction to Mechatronics

Fall 2005

Instructor: Professor Charles Ume

LECTURE 5


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RAM – Random Access Memory“Volatile” – loses contents after power off

ROM – Read Only Memory• “non-Volatile”• Contents must be programmed at the factory

EPROM – Electrically Programmable Read Only Memory• “non-Volatile”• Electrically programmable• May be erasable with ultraviolet light if manufacturer included window in

chip package• Still considered Read Only Memory during normal program execution

EEPROM – Electrically Erasable Programmable Read Only Memory• “non-Volatile• Electrically programmable and erasable (Note:Sometimes higher voltage than

microcontroller voltage may be required)• Slower to write to than RAM so still considered Read Only Memory during

normal program execution


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MC – FULLY SPECIFIED AND QUALIFIEDXC – PILOT PRODUCTION SAMPLEPC – ENGINEERING SAMPLE

MOTOROLA HCMOS

7 – EPROM PROGRAM MEMORY8 – EEPROM PROGRAM MEMORYNONE – ROM OR NO PROGRAM MEMORY

M68HC11 FAMILY

SPECIFIC PART TYPEA8A1A0E9E1E0A2E2D3F1

ETC.

MC 68HC x 11 xx

Product Designations found in literature is shown below:

Figure 1-3. Part Numbering (Reference)


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QUALIFICATION LEVELMC – FULLY SPECIFIED AND QUALIFIEDXC – PILOT PRODUCTION SAMPLEPC – ENGINEERING SAMPLE

OPERATING VOLTAGE RANGEHC – HCMOS (VDD = 5.0 VDC E10%)

L – HCMOS (VDD = 3.0 VDC TO 5.5 VDC

NUMERIC DESIGNATOR (OPTIONAL)

COP OPTION (ONLY ON A-SERIES DEVICES)NONE – COP DISABLED

P – COP ENABLED

MEMORY TYPEBLANK – MASKED ROM OR NO ROM

7 – EPROM/OPTROM8 – EEPROM

BASE PART NUMBER11A8, 11D3, 11E9, 11K4, ETC.

MONITOR MASKNONE – BLANK

B – BUFFALO

TEMPERATURE RANGENONE – 0ºC TO 70ºC

C – -40ºC TO 85ºCV – -40ºC TO 105ºCM – -40ºC TO 125ºC

PACKAGE TYPEFN – 44/52/68/84-PIN PLCCFS – 44/52/68/84-PIN CLCCFU – 64/80-PIN QFPFB – 44-PIN QFPPV – 112-PIN TQFPPU – 80/100-PIN TQFPPB – 52-PIN TQFP

P – 40/48-PIN DIPS – 48-PIN SDIP

MAXIMUM SPECIFIED CLOCK SPEED2 – 2.0 MHz3 – 3.0 MHz4 – 4.0 MHz

TAPE AND REEL OPTIONNONE – STANDARD PACKAGING

R2 – TAPE AND REEL PACKAGING

MC 68 HC P 7 11XX B C FN 3 R2

Part designations found in packaging is different from literature and is shown below:

Figure 1-3. Part Numbering (Reference)


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Product Family Members as of 1-1-03

Table 1-1. M68HC11 Family Members (Reference)


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Table 1-1. M68HC11 Family Members (Reference)


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•52-pin plastic-leaded chip carrier (PLCC) (Shown below)•52-pin windowed ceramic leaded chip carrier (CLCC)•52-pin plastic thin quad flat pack, 10 mm x 10 mm (TQFP)•64-pin quad flat pack (QFP)•48-pin plastic dual in-line package (DIP), MC68HC811E2 only•56-pin plastic shrink dual in-line package, .070-inch lead spacing (SDIP)

M68HC11 E-series package options

Figure 2-3. MC68HC11E9/11E9 Pin Assignments (52-PIN PLCC)(Technical)


ME4447/6405ME4447/6405 M68HC11 E-series Block Diagram shows available subsystems

Figure 1-1. M68HC11 E-Series Block Diagram (Technical)


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Figure 1-1. M68HC11 E-Series Block Diagram (Technical)


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Figure 6. Register and Control Bit Assignments (Programming Reference)


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Hardware Mode Selection Summary

Table 4-1. Hardware Mode Select Summary (Reference)


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Minimum connections needed for Single chip and Bootstrap mode.

All ports available for use

Figure 2-23. Basic Single-Chip Mode Connections (Reference)


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Minimum connection needed for Expanded Mode and Test Mode

Ports B and C not available for use (maybe emulated with MC68HC24 port replacement unit)

Por

t BP

ort

C

Figure 2-22. Basic Expanded Mode Connections(Reference)


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Figure 4-4. Memory Map for MC68HC(7)11E9


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Axiom CME-11E9-EVBU Diagram (Axiom CME-11E9 Manual)


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ME4447/6405ME4447/6405 Axiom CME-11E9-EVBU Mode Select Jumpers

MODAPIN

5 V

GND

MODAJumper

10 K Ω

MODBPIN

5 V

GND

MODBJumper

10 K Ω

Schematic of MODE selection Jumpers and Pins

When the MODA Jumper is off, MODA pin is connected to 5V though a 10 K Ω resistor. MODA is logic level high.

When the MODA Jumper is on, MODA pin is shorted to GND. MODA pin is logic level low.

When the MODB Jumper is off, MODB pin is connected to 5V though a 10 K Ω resistor. MODB is logic level high.

When the MODB Jumper is on, MODB pin is shorted to GND. MODB pin is logic level low.


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Special Test10OFFON

Bootstrap00ONON

Expanded11OFFOFF

Single chip01ONOFF

MODBLevel

MODALevel

MODB Jumper

MODA Jumper

Mode

MODA and MODB Logic Level at reset

Axiom CME-11E9-EVBU MODE SELECT JUMPERS

at reset

Axiom CME-11E9-EVBU Mode Select Summary


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MODA Jumper ONMODB Jumper OFFJumpers located near 68HC11

Internal User Ram available:$0000-$002C$0100-$01FF

User can put a program in Internal EEPROM $B600-$BFFF and Internal User ram

Program in Internal EEPROMFirst 3 instructions of Buffalo checks if PE0 is high.If high then EEPROM instructions starting from $B600 are executed.Otherwise Buffalo will be loaded and can will be used to execute programs in Ram.

• Ports B and C available for use


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MODA Jumper OFFMODB Jumper OFFJumpers located near 68HC11

• Internal User Ram available:$0000-$002C$0100-$01FF

• User can put program in On-chip EEPROM $B600-$B7FF

• External User Ram$0200-$0FFF$1040-$7FFFUser can debug programs by loading them into Internal and External RAM by using Buffalo Monitor Program

• Mode used in Laboratory Assignments

• Port B and C not available for use


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MODA Jumper OFFMODB Jumper OFFJumpers located near 68HC11

User Ram available:$0000-$0FFF$1040-$7FFF

User can put program in:Internal EEPROM $B600-$B7FFExternal EEPROM $E000-$FFFEUser must put starting address of program in reset vector ($FFFE-$FFFF).

But not in user ram because Buffalo Monitor is absent. Buffalo Monitor necessary to load program in ram. However, data can be stored in user ram.

• Port B and C not available for use

• User must setup stack atbeginning of program.(example : “LDS $002D”)


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$FFFE-$FFFFRESET

$FFFC-$FFFD Clock monitor fail

$FFFA-$FFFB COP failure

$FFF8-$FFF9 Illegal opcode trap

$FFF6-$FFF7 Software interrupt

$FFF4-$FFF5 XIRQ pin

$FFF2-$FFF3 IRQ (external pin)

$FFF0-$FFF1 Real-time interrupt

$FFEE-$FFEF Timer input capture 1

$FFEC-$FFED Timer input capture 2

$FFEA-$FFEB Timer input capture 3

$FFE8-$FFE9 Timer output compare 1




$FFE0-$FFE1 Timer input capture 4/output compare 5

$FFDE-$FFDF Timer overflow

$FFDC-$FFDD Pulse accumulator overflow

$FFDA-$FFDB Pulse accumulator input edge

$FFD8-$FFD9 SPI serial transfer complete

$FFD6-$FFD7 SCI serial system

Vector Interrupt

Interrupt Vector TableROMON disabled

Standard 68HC11 Interrupt Jump Table

Each vector is 2 bytes. User stores address of interrupt service routine in appropriate vector

Table 5-4. Interrupt and Reset Vector Assignments (Technical)


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Standard 68HC11 Interrupt Jump Table (ROMON Disabled, ie No Buffalo Monitor)

The user can put the starting address of his/her subroutineDirectly in the vector field of the interrupt he/she wants toUse.

Example: If the user wants to use the IRQ interrupt, he/sheCan put the starting address of his/her subroutine directly inVector fields $FFF2 and $FFF3


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$00FD - $00FFClock monitor fail

$00FA - $00FCCOP failure

$00F7 - $00F9Illegal opcode trap

$00F4 - $00F6Software interrupt

$00F1 - $00F3XIRQ pin

$00EE - $00F0IRQ (external pin)

$00EB - $00EDReal-time interrupt

$00E8 - $00EATimer input capture 1

$00E5 - $00E7Timer input capture 2

$00E2 - $00E4Timer input capture 3

$00DF - $00E1Timer output compare 1

$00DC - $00DETimer output compare 2

$00D9 - $00DBTimer output compare 3

$00D6 - $00D8Timer output compare 4

$00D3 - $00D5Timer input capture 4/output compare 5

$00D0 - $00D2Timer overflow

$00CD - $00CFPulse accumulator overflow

$00CA - $00CCPulse accumulator input edge

$00C7 - $00C9SPI serial transfer complete

$00C4 - $00C6SCI serial system

VectorInterruptInterrupt Vector TableROMON enabled

Standard 68HC11 Interrupt Vector Jump Table is not available with ROMON enabled because Buffalo Monitor Program cannot be overwritten

Buffalo Monitor Program supplies alternate Buffalo Monitor Interrupt Jump Table

Each Vector is 3 bytes. User writes jump instruction ($7E) in first byte and address of interrupt service routine in remaining two bytes

Table 4. Buffalo Monitor Interrupt Jump Table (EVBU Manual)


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Using Buffalo Monitor Interrupt Jump Table (ie ROM Enabled)

To use Buffalo Monitor Interrupt Jump Table (EVBU Manual), the user must insert a jump opcode (extended) in the three byte field of the vector required. For an example, to use IRQ vector, with an and IRQ interrupt service routine located at $8000, the following is preformed:

a.Place $7E (JMP) at location $00EEb.Place IRQ interrupt service routine address at locations $00EF and $00F0.

$00EE 7E 80 00 JMP IRQ SERVICE

During initialization Buffalo checks the first byte of each set of three locations. If a $7E jump opcode is not found, Buffalo will install a jump to a routine called STOPIT. This assure there will be no uninitialized interrupt vectors which would cause undesirable operation. If an interrupt is accidentally encountered, the STOPIT routine will force a STOP instruction sequence to be executed. A user may replace any of the JMP STOPIT instructions with a JMP to a user written interrupt service routine


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Relationship Between Standard 68HC11 Interrupt Vectors and Buffalo Monitor Interrupt Jump Table Vectors

When the ROMON is enabled, the Buffalo Monitor program resides in ROM locations $E000 to $FFFD. Since a user cannot overwrite or erase the Buffalo Monitor program, the user does not have access to Standard 68HC11 Interrupt Vectors located at $FFD6-$FFFD. Buffalo Monitor program provides Buffalo Monitor Interrupt Jump Table Vectors. The Buffalo Monitor machine codeautomatically places the first address of Buffalo Monitor Interrupt Jump Table Vector in the corresponding Standard 68HC11 Interrupt Vector.

Example for IRQ (with Buffalo Monitor Vectors $00EE – 00F0):$00 is automatically placed in $FFF2 by Buffalo Monitor$EE is automatically placed in $FFF3 by Buffalo Monitor

When IRQ Interrupt occurs, the micro-controller will read the two byte address contained in $FFF2 and $FFF3 ( i.e $00EE). Then the micro-controller executes the instruction the user stored in $00EE, which should be a jump instruction $7E to a user specified interrupt service routine. The user should store the starting address of his/her subroutine in $00EF and $00F0.


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**************** EQUATES ****************RAMBS EQU $0000 start of ramREGBS EQU $1000 start of registersROMBS EQU $E000 start of romDSTREE EQU $B600 start of eepromDENDEE EQU $B7FF end of eepromPORTE EQU REGBS+$0A port eCFORC EQU REGBS+$0B force output compareTCNT EQU REGBS+$0E timer countTOC5 EQU REGBS+$1E oc5 regTCTL1 EQU REGBS+$20 timer control 1TMSK1 EQU REGBS+$22 timer mask 1TFLG1 EQU REGBS+$23 timer flag 1TMSK2 EQU REGBS+$24 timer mask 2BAUD EQU REGBS+$2B sci baud reg

Part of Buffalo Monitor Source code


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SCCR1 EQU REGBS+$2C sci control1 regSCCR2 EQU REGBS+$2D sci control2 regSCSR EQU REGBS+$2E sci status regSCDAT EQU REGBS+$2F sci data regBPROT EQU REGBS+$35 block protect regOPTION EQU REGBS+$39 option regCOPRST EQU REGBS+$3A cop reset regPPROG EQU REGBS+$3B ee prog regHPRIO EQU REGBS+$3C hprio regCONFIG EQU REGBS+$3F config registerDFLOP EQU $4000 evb d flip flopDUART EQU $D000 duart addressPORTA EQU DUARTPORTB EQU DUART+8ACIA EQU $9800 acia addressPROMPT EQU '>'BUFFLNG EQU 35CTLA EQU $01 exit host or assemblerCTLB EQU $02 send break to hostCTLW EQU $17 waitCTLX EQU $18 abortDEL EQU $7F abortEOT EQU $04 end of text/tableSWI EQU $3F


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**************** RAM ****************

ORG $2DRMB 20 user stack area

USTACK RMB 30 monitor stack areaSTACK RMB 1REGS RMB 9 user's pc,y,x,a,b,cSP RMB 2 user's spINBUFF RMB BUFFLNG input bufferENDBUFF EQU *COMBUFF RMB 8 command bufferSHFTREG RMB 2 input shift registerSTREE RMB 2 eeprom start addressENDEE RMB 2 eeprom end addressBRKTABL RMB 8 breakpoint tableAUTOLF RMB 1 auto lf flag for i/oIODEV RMB 1 0=sci, 1=acia, 2=duartA, 3=duartBEXTDEV RMB 1 0=none, 1=acia, 2=duart,HOSTDEV RMB 1 0=sci, 1=acia, 3=duartBCOUNT RMB 1 # characters readCHRCNT RMB 1 # characters output on current linePTRMEM RMB 2 current memory locationLDOFFST RMB 2 offset for download


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*** Buffalo variables - used by: ***PTR0 RMB 2 main,readbuff,incbuff,ASPTR1 RMB 2 main,BR,DU,MO,AS,EXPTR2 RMB 2 EX,DU,MO,ASPTR3 RMB 2 EX,HO,MO,ASPTR4 RMB 2 EX,ASPTR5 RMB 2 EX,AS,BOOTPTR6 RMB 2 EX,AS,BOOTPTR7 RMB 2 EX,ASPTR8 RMB 2 ASTMP1 RMB 1 main,hexbin,buffarg,termargTMP2 RMB 1 GO,HO,AS,LOADTMP3 RMB 1 AS,LOADTMP4 RMB 1 TR,HO,ME,AS,LOAD*** Vector jump table ***JSCI RMB 3 At address $00C4JSPI RMB 3JPAIE RMB 3JPAO RMB 3JTOF RMB 3JTOC5 RMB 3JTOC4 RMB 3JTOC3 RMB 3JTOC2 RMB 3JTOC1 RMB 3


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JTIC3 RMB 3JTIC2 RMB 3JTIC1 RMB 3JRTI RMB 3JIRQ RMB 3JXIRQ RMB 3JSWI RMB 3JILLOP RMB 3JCOP RMB 3JCLM RMB 3


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Compare Memory to Download DataVERIFY

Enter Transparent ModeTM

Trace 1-256 InstructionsT [<n>]

Register ModifyRM [p,y,x,a,b,c,s]

Proceed / Continue from BreakpointP

Move Memory to New LocationMOVE <addr1> <addr2> [<dest>]

Memory ModifyMM [<address>]

Dump Memory to TerminalMD [<addr1> [<addr2>]]

Download S-RecordsLOAD T

Display Monitor CommandsHELP

Execute ProgramG [<address>]

Execute SubroutineCALL [<address>]

Bulk Erase EEPROM + Config RegisterBULKALL

Bulk Erase EEPROMBULK

Breakpoint setBR [-][<address>]….

Block Fill Memory with DataBF <addr1> <addr2> <data>

Assembler/DisassemblerASM [<address>]

DescriptionCOMMAND

Buffalo Monitor Commands


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Several subroutines from Buffalo Monitor Program exist that are available for performing I/O tasks. Utility subroutines available to the user are as follows:

UPCASE If character in accumulator A is lower case alpha, convert to upper case.

WCHEK Test character in accumulator A and return with Z bit set if character is whitespace(space, comma, tab).

DCHEK Test character in accumulator A and return with Z bit set if character is delimiter (carriage return or whitespace).

INIT Initialize I/O device.

INPUT Read I/O device.

OUTPUT Write I/O device.

OUTLHLF Convert left nibble of accumulator A contents to ASCII and output to terminal port.

OUTRHLF Convert right nibble of accumulator A contents to ASCII and output to terminal port.

OUTA Output accumulator A ASCII character.

Buffalo Monitor Subroutines


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OUTlBYT Convert binary byte at address in index register X to two ASCII characters and output. Returns address in index register X pointing to next byte.

OUTlBSP Convert binary byte at address in index register X to two ASCII characters and output followed by a space. Returns address in index register

OUT2BSP Convert two consecutive binary bytes starting at address in index register X to four ASCII characters and output followed by a space. Returns address in index register X pointing to next byte.

OUTCCRLF Output ASCII carriage return followed by a line feed.

OUTSTRG Output string of ASCII bytes pointed to by address in index register X until character is an end of transmission ($04).

OUTSTRGO Same as OUTSTRG except leading carriage return and line feed is skipped.

INCHAR Input ASCII character to accumulator A and echo back. This routine loops until character is actually received.


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$FFAO JMP UPCASE Convert character to uppercase

$FFA3 JMP WCHEK Test character for whitespace

$FFA6 JMP DCHEK Check character for delimiter

$FFA9 JMP INIT Initialize I/O device

$FFAC JMP INPUT Read I/O device

$FFAF JMP OUTPUT Write I/O device

$FFB2 JMP OUTLHLF Convert left nibble to ASCII and output

$FFB5 JMP OUTRHLF Convert right nibble to ASCII and output

$FFB8 JMP OUTA Output ASCII character

To use an I/O subroutine, Jump Sub Routine (JSR) to the specified address listed below.

Example: “JSR $FFB8” to execute the OUTA subroutine


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$FFBB JMP OUTlBYT Convert binary byte to 2 ASCII characters and output

$FFBE JMP OUT1BSP Convert binary byte to 2 ASCII characters and output followedby space

$FFCl JMP OUT2BSP Convert 2 consecutive binary bytes to 4 ASCII characters and output followed by space.

$FFC4 JMP OUTCRLF Output ASCII carriage return followed by line feed

$FFC7 JMP OUTSTRG Output ASCII string until end of transmission ($04)

$FFCA JMP OUTSTRGO Same as OUTSTRG except leading carriage return and line fees is skipped

$FFCD JMP INCHAR Input ASCII character and echo back

Documents

ME4447/6405 ME 6405 - Georgia Institute of Technologyume.gatech.edu/mechatronics_course/lecture5.pdf · ME4447/6405 ME 6405 Introduction to Mechatronics Fall 2005 Instructor: Professor