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Chapter 2: 68HC11 Assembly Programming

Chapter 2: 68HC11 Assembly Programming. The 68HC11 Microcontroller. Han-Way Huang. Minnesota State University, Mankato. Assembly Program Structure. C program main () { int i, j, k; ; i, j, k are integer variables i = 75; ; assign 75 to i j = 10; ; assign 10 to j

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Chapter 2: 68HC11 Assembly Programming

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  1. Chapter 2: 68HC11 Assembly Programming The 68HC11 Microcontroller Han-Way Huang Minnesota State University, Mankato

  2. Assembly Program Structure C program main () { int i, j, k; ; i, j, k are integer variables i = 75; ; assign 75 to i j = 10; ; assign 10 to j k = i + j - 6; }

  3. Assembly Program (1) * Data storage declaration section (2) ORG $00 (3) i RMB 1 ; variable i (4) j RMB 1 ; variable j (5) k RMB 1 ; variable k (6) * program instruction section (7) start ORG $C000 ; starting address of program (8) LDAA #75 (9) STAA i ; initialize i to 75 (10) LDAA #10 (11) STAA j ; initialize j to 10 (12) ADDA i ; compute i + j (13) SUBA #6 ; compute i + j -6 (14) STAA k ; store i + j - 6 to k (15) END

  4. Global View of a 68HC11 Assembly Program 1. Assembler Directives - define data and symbol - reserve and initialize memory locations - set assembler and linking condition - specify output format - etc. 2. Assembly Language Instructions 3. END directive - last statement of a program - any statement after END will be ignored 4. Comments - explain the function of a single or a group of instructions

  5. Fields of a 68HC11 Instruction 1. Label field - is optional - starts with a letter and followed by letters, digits, or special symbols (_ or .) - can start from any column if ended with “:” (not true for Motorola freeware as11) - must start from column 1 if not ended with “:” 2. Operation field - contains the mnemonic of a machine instruction or a directive - is separated from the label by at least one space 3. Operand field - follows the operation field and is separated from the operation field by at least one space - contains operands for instructions or arguments for assembler directives 4. Comment field - a whole line comment starts with a * - is separated from the operand and operation field for at least one space

  6. Identify the Four Fields of an Instruction Example 2.3 loop ADDA #$40 ; add 40 to accumulator A (1) “loop” is a label (2) “ADDA” is an instruction mnemonic (3) “#$40” is the operand (4) “add #$40 to accumulator A” is a comment

  7. Assembler Directives -- a sample 1. END - ends a program to be processed by an assembler - any statement following the END directive is ignored - not supported by the Motorola freeware as11 2. ORG - sets a new value for the location counter of the assembler - tells the assembler where to put the next byte it generates after the ORG directive The sequence ORG $C000 LDAB #$FF will put the opcode byte for the instruction LDAB #$FF at location $C000. 3. RMB -- reserve memory bytes - reserve memory bytes without initialization - syntax is [<label>] RMB <expression> [<comment>] The statement buffer RMB 100 allocates 100 bytes for data and can be referred to by the label “buffer”.

  8. BSZ -- block storage of zeros - causes the assembler to allocate a block of bytes that are initialized to zeros - syntax is [<label>] BSZ <expression> [<comment>] The statement buffer BSZ 80 reserves a block of 80 bytes and their value are initialized to 0. FCB -- form constant byte - reserves as many bytes as the number of arguments in the directive - each argument specifies the initial value of the corresponding byte - syntax is [<label>] FCB [<expression>][,<expression>,...,<expression>][<comment>] The statement ABC FCB $11,$22,$33 reserves three consecutive memory bytes and initializes their values to $11, $22, and $33.

  9. FDB -- form double byte - reserves 2 bytes for each argument of the directive - each argument specifies the initial value of the corresponding double bytes - syntax is [<label>] FDB [<expression>][,<expression>,...,<expression>] [comment>] The directive ABC FDB $11,$22,$33 will initialize 6 consecutive bytes in memory to $00 $11 $00 $22 $00 $33 FCC -- form constant character - generates ASCII code bytes for the letters in the arguments - syntax is [label] FCC “<string>“ [<comment>] The directive ALPHA FCC “DEF” will generate the values $44 $45 $46 in memory

  10. DCB -- define constant block - reserve an area of memory and initialize each byte to the same constant value - syntax is [label] DCB <length>,<value> - not supported by the Motorola freeware as11 The directive space DCB 80,$20 will generate a line of 80 space characters. FILL -- fill a block of constant values - serve as the same purpose as does the DCB directive - syntax [<label>] FILL <value>,<length> The directive ones FILL 1,40 will force the freeware assembler to fill each of the 40 memory locations with a 1.

  11. EQU -- equate - allows the user to use a symbolic name in place of a number - syntax is <label> EQU <expression> [<comment>] The directive ROM EQU $E000 tells the assembler that wherever ROM appears in the program, the value $E000 is to be substituted.

  12. A Flowchart - is a form of program documentation - is a tool for developing program logic flow Symbols of Flowchart Terminal Process Subroutine Input or output B Off-page connector yes Decision A On-page connector no

  13. Procedure of Using Computer in Solving the Problem start analyze the problem Express the solution to the problem using flowchart or other method Convert the flowchart into source code Compile or assemble to generate machine code Place the executable code in the computer Refine the solution Run the program and evaluate the result No Is the result satisfactory? Yes Stop

  14. Programs to do simple arithmetic Example 2.4 Write a program to add the values of memory locations at $00, $01, and $02, and save the result at $03. LDAA $00 ; load the contents of memory location at $00 into A ADDA $01 ; add the contents of memory location at $01 to A ADDA $02 ; add the contents of memory location at $02 to A STAA $03 ; save the result at memory location at $03 Example 2.5 Write a program to subtract 6 from three 8-bit numbers stored at $00, $01, and $02 respectively. LDAA $00 ; load the first number into A SUBA #06 ; subtract 6 from the first number STAA $00 ; store the decremented value back to $00 LDAA $01 ; load the second number into A SUBA #06 ; subtract 6 from the second number STAA $01 ; store the decremented value back to $01 LDAA $02 ; load the third number into A SUBA #06 ; subtract 6 from the third number STAA $02 ; store the decremented value back to $02

  15. The Carry Flag - bit 0 of the CCR register - set to 1 when the addition operation produces a carry 1 - set to 1 when the subtraction operation produces a borrow 1 - enables the user to implement multi-precision arithmetic Example 2.6 Write a program to add the 3-byte numbers stored at $00-$02 and $03-$05 and save the result at $06-$08. Solution: The addition starts from the least significant byte. LDAA $02 ; add the LSBs ADDA $05 ; “ STAA $08 ; “ LDAA $01 ; add the middle bytes ADCA $04 ; “ STAA $07 ; “ LDAA $00 ; add the MSBs ADCA $03 ; “ STAA $06 ; “

  16. Example 2.7 Write a program to subtract the 3-byte number stored at $03-$05 from the 3-byte number stored at $00-$02 and save the result at $10-$12. Solution: The subtraction starts from the LSBs. LDAA $02 ; subtract the LSBs SUBA $05 ; “ STAA $12 ; “ LDAA $01 ; subtract the middle bytes SUBA $04 ; “ STAA $11 ; “ LDAA $00 ; subtract the MSBs SUBA $03 ; “ STAA $10 ; “

  17. BCD numbers and addition - each digit is encoded by 4 bits - two digits are packed into one byte - the addition of two BCD numbers is performed by binary addition and an adjust operation using the DAA instruction - the instruction DAA can be applied after the instructions ADDA, ADCA, and ABA - simplifies I/O conversion For example, the instruction sequence LDAA $00 ADDA $01 DAA STAA $02 adds the BCD numbers stored at $00 and $01 and saves the sum at $02.

  18. Multiplication - MUL computes the product of A and B and leaves the result in D - multi-byte multiplication can be performed by using a method similar to the pen-and-pencil method (partial products are generated and added together) Example 2.10 Multiply the two 16-bit numbers stored at M and N and save the product at location P. Solution: Rewrite M and N as MHML and NHNL where MH and NH are upper 8 bits of M and N respectively ML and NL are lower 8 bits of M and N respectively MH and ML are stored at M and M+1 respectively NH and NL are stored at N and N+1 respectively

  19. Illustration of 16-bit by 16-bit Multiplication 8-bit 8-bit 8-bit 8-bit MLNL upper byte lower byte MHNL MLNH MHNH M × N upper byte lower byte upper byte lower byte upper byte lower byte address P P+1 P+2 P+3 MSB LSB

  20. Example 2.10 Program for multiplying two 16-bit numbers ldaa M+1 ; place ML in A ldab N+1 ; place NL in B mul ; compute ML × NL std P+2 ; save ML × NL to memory locations P+2 and P+3 ldaa M ; place MH in A ldab N ; place NH in B mul ; compute MH × NH std P ; save MH × NH to memory locations P and P+1 ldaa M ; place MH in A ldab N+1 ; place NL in B mul ; compute MH × NL addd P+1 ; add MH × NL to memory locations P+1 and P+2 std P+1 ; “ ldaa P ; add the C flag to memory location P adca #0 ; “ staa P ; “ ldaa M+1 ; place ML in A ldab N ; place NH in B mul ; compute ML × NH addd P+1 ; add ML × NH to memory locations P+1 and P+2 ldaa P ; add the C flag to memory location P adca ; “ staa P ; “

  21. Divide Instructions 1. IDIV: integer division - D is the dividend and X is the divisor - Quotient is left in X and remainder is left in D - The quotient is set to $FFFF in the case of divide by 0 2. FDIV: fractional division - D is the dividend, X is the divisor - Quotient is left in X and remainder is left in D - The radix point is assumed to be in the same place for both the dividend and divisor - The radix is to the left of bit 15 - The dividend must be smaller than the divisor - The quotient is set to $FFFF in the case of divide by 0 or overflow 3. Example 2.12 Divide the fractional number $.2222 by $.4444 LDD #$2222 ; divide $0.2222 by $0.4444 LDX #$4444 ; “ FIDV ; “

  22. The 68HC11 provides swap instructions so that further division to the quotient can be performed. - XGDX: swap the contents of D and X - XGDY: swap the contents of D and Y Example 2.13 Write a program to convert the 16-bit number stored at $00-$01 to BCD format and store the result at $02-$06. Each BCD digit is stored in one byte. Solution: - A binary number can be converted to BCD format by using repeated division by 10. - The largest 16-bit binary number is 65535 which has five decimal digits. - The first division by 10 obtains the least significant digit, the second division by 10 obtains the second least significant digit, and so on.

  23. LDD $00 ; place the 16-bit number in D LDX #10 IDIV ; compute the least significant digit STAB $06 ; save the least significant BCD digit XGDX ; place the quotient in D LDX #10 IDIV ; compute the second least significant BCD digit STAB $05 ; save the second least significant BCD digit XGDX ; place the quotient in D LDX #10 IDIV ; compute the middle BCD digit STAB $04 ; save the middle BCD digit XGDX LDX #10 IDIV ; compute the second most significant digit STAB $03 ; the second most significant BCD digit XGDX STAB $02 ; save the most significant BCD digit END

  24. Program Loops Types of program loops: finite and infinite loops Looping mechanisms: 1. DO statement S forever 2. FOR i = n1 to n2 DO statement S or FOR i = n2 downto n1 DO statement S 3. WHILE C DO statement S 4. REPEAT statement S until C Program loops are implemented by using the conditional branch instructions and the execution of these instructions depends on the contents of the CCR register.

  25. Condition Code Register S X H I N Z V C - C: carry flag - V: overflow flag - Z: zero flag - N: negative flag - H: half carry flag Conditional Branch Instruction [<label>] Bcc rel [<comment>] where cc is a condition code listed in Table 2.1. Unconditional Branch Instruction [<label>] BRA rel [<comment>]

  26. Table 2.1 Branch Condition Codes Condition code Meaning CC carry clear CS carry set EQ equal to 0 GE greater than or equal to 0 (signed comparison) GT greater than 0 (signed comparison) HI higher (unsigned comparison) HS higher or same (unsigned comparison) LE less than or equal to 0 LO lower (unsigned comparison) LS lower or same (unsigned comparison)LT less than 0 (signed comparison) MI minus (signed comparison)NE not equal to 0PL plus (signed comparison) VC overflow bit clear VS overflow bit set

  27. Conditional Branch Instructions that check only one condition flag - C flag: BCC branch if C flag is 0 BCS branch if C flag is 1 BLO branch if C flag is 1 BHS branch if C flag is 0 - Z flag BEQ branch if Z flag is 1 BNE branch if Z flag is 0 - N flag BPL branch if N flag is 0 BMI branch if N flag is 1 - V flag BVS branch if V flag is 1 BVC branch if V flag is 0 Conditional Branch Instructions that check more than one condition flag - BGE branch if (N Å V) = 0 - BGT branch if (Z + (N Å V)) = 0 - BHI branch if (C + Z) = 0 - BLE branch if (Z + (N Å V)) = 1 - BLS branch if (C + Z) = 1 - BLT branch if (N Å V) = 1

  28. Decrementing and Incrementing Instructions - DECA: A ¬ [A] - 1 - DECB: B ¬ [B] - 1 - DEC opr: mem[opr] ¬ [mem[opr]] - 1 - DES: SP ¬ [SP] - 1 - DEX: X ¬ [X] - 1 - DEY: Y ¬ [Y] - 1 - INCA: A ¬ [A] + 1 - INCB: B ¬ [B] + 1 - INC opr: mem[opr] ¬ [mem[opr]] + 1 - INS: SP ¬ [SP] + 1 - INX: X ¬ [X] + 1 - INY: Y ¬ [Y] + 1 Note 1. Incrementing and decrementing instructions can be used to update the loop indices. Note 2. The memory operand opr is specified in either extended or index addressing mode.

  29. Example 2.15 Write a program to compute 1 + 2 + ... + 20 and save the sum at $00. Solution: Start * The following program use accumulator B as the loop index * i and A as the sum. N equ 20 ldab #0 ; initialize loop index i to 0 ldaa #0 ; initialize sum to 0 again incb ; increment i aba ; add i to sum cmpb #20 ; compare i with the upper limit bne again ; continue if i is less than 20 staa $00 ; save the sum end i = 0 sum = 0 i = i + 1 sum = sum + i no i = 20 ? yes Stop

  30. Example 2.16 Write a program to find the largest number from an array of 20 8-bit numbers. The array is stored at $00-$13. Save the result at $20. Solution: Start array max ¬ array [0] i ¬ 1 yes array max ¬ array [i] array max < array [i] ? i ¬ i + 1 no no i = array count - 1? yes Stop

  31. * The following program uses A to hold the temporary array max and uses B * as the loop index. N equ 20 ; array count org $00 array fcb .... ; array ldaa array ; set array[0] as the temporary array max ldab #1 ; initialize loop index to 1 loop ldx #array ; point X to array[0] abx ; compute the address of array[i] cmpa 0,X ; compare temp. array max to the next element bhs chkend ; do we need to update the temporary array max? ldaa 0,X ; update the temporary array max chkend cmpb #N-1 ; compare loop index with loop limit beq exit ; is the whole array checked yet? incb ; increment loop index bra loop exit staa $20 ; save the array max end

  32. Compare Instructions - are executed to set the condition flags of the CCR register - are often used to implement the program loop Table 2.2 68HC11 Compare Instructions Instruction format [<label>] CBA [<comment>] compare A to B [<label>] CMPA opr [<comment>] compare A to a memory location or value [<label>] CMPB opr [<comment>] compare B to a memory location or value [<label>] CPD opr [<comment>] compare D to a memory location or value [<label>] CPX opr [<comment>] compare X to a memory location or value [<label>] CPY opr [<comment>] compare Y to a memory location or value [<label>] TST opr [<comment>] test a memory location for negative or zero [<label>] TSTA [<comment>] test A for negative or zero [<label>] TSTB [<comment>] test B for negative or zero opr is specified in one of the following addressing modes: - EXT - INDX - INDY - IMM (not applicable to “TST opr”) - DIR (not applicable to “TST opr”)

  33. Special Conditional Branch Instructions [<label>] BRCLR (opr) (msk) (rel) [<comment>] [<label>] BRSET (opr) (msk) (rel) [<comment>] where opr specifies the memory location to be checked and must be specified using either the direct or index addressing mode. msk is an 8-bit mask that specifies the bits of the memory location to be checked. The bits of the memory byte to be checked correspond to those bit positions that are 1s in the mask. rel is the branch offset and is specified in the relative mode. For example, the sequence ldx #$1000 here brclr $30,X %10000000 here ldaa $31,X will force the 68HC11 continue to execute the second instruction until the bit 7 is set to 1.

  34. Example 2.17 Write a program to compute the sum of the odd numbers in an array with 20 8-bit elements. The array is stored at $00-$13. Save the sum at $20-$21. Solution: Start sum ¬ 0 ptr ¬ 0 bit 0 of mem[ptr] = 0? no sum ¬ sum + [mem[ptr]] no ptr = $13? ptr ¬ ptr + 1 yes Stop

  35. * The index register X is used as the pointer to the array element. N equ $13 org $20 sum rmb 2 org $C000 ldaa #$00 staa sum ; initialize sum to 0 staa sum+1 ; “ ldx #$00 ; point X to array[0] loop brclr 0,X $01 chkend ; is it an odd number? ldd sum ; add the odd number to the sum addb 0,X ; “ adca #0 ; “ std sum ; “ chkend cpx #N ; compare the pointer to the address of the last element bhs exit ; is this the end? inx bra loop ; not yet done, continue exit end

  36. Instructions for Variable Initialization 1. [<label>] CLR opr [<comment>] where opr is specified using the extended or index addressing mode. The specified memory location is cleared. 2. [<label>] CLRA [<comment>] Accumulator A is cleared to 0 3. [<label>] CLRB [<comment>] Accumulator B is cleared to 0

  37. Shift and Rotate Instructions The 68HC11 has shift and rotate instructions that apply to a memory location, accumulators A, B and D. A memory operand must be specified using the extended or index addressing mode. There are three 8-bit arithmetic shift left instructions: [<label>] ASL opr [<comment>] -- memory location opr is shifted left one place [<label>] ASLA [<comment>] -- accumulator A is shifted left one place [<label>] ASLB [<comment>] -- accumulator B is shifted left one place The operation is 0 b7 ----------------- b0 C

  38. The 68HC11 has one 16-bit arithmetic shift left instruction: [<label>] ASLD [<comment>] The operation is b7 ----------------- b0 b7 ----------------- b0 0 C accumulator A accumulator B The 68HC11 has arithmetic shift right instructions that apply to a memory location and accumulators A and B. [<label>] ASR opr [<comment>] -- memory location opr is shifted right one place [<label>] ASRA [<comment>] -- accumulator A is shifted right one place [<label>] ASRB [<comment>] -- accumulator B is shifted right one place The operation is b7 ----------------- b0 C

  39. The 68HC11 has logical shift left instructions that apply to a memory location and accumulators A and B. [<label>] LSL opr [<comment>] -- memory location opr is shifted left one place [<label>] LSLA [<comment>] -- accumulator A is shifted left one place [<label>] LSLB [<comment>] -- accumulator B is shifted left one place The operation is 0 C b7 ----------------- b0 The 68HC11 has one 16-bit logical shift left instruction: [<label>] LSLD [<comment>] The operation is b7 ----------------- b0 b7 ----------------- b0 0 C accumulator B accumulator A

  40. The 68HC11 has three logical shift right instructions that apply to 8-bit operands. [<label>] LSR opr [<comment>] -- memory location opr is shifted right one place [<label>] LSRA [<comment>] -- accumulator A is shifted right one place [<label>] LSRB [<comment>] -- accumulator B is shifted right one place The operation is b7 ----------------- b0 C 0 The 68HC11 has one 16-bit logical shift right instruction: [<label>] LSRD [<comment>] The operation is C 0 b7 ----------------- b0 b7 ----------------- b0 accumulator B accumulator A

  41. The 68HC11 has three rotate left instructions that operate on 9-bit operands. [<label>] ROL opr [<comment>] -- memory location opr is rotated left one place [<label>] ROLA [<comment>] -- accumulator A is rotated left one place [<label>] ROLB [<comment>] -- accumulator B is rotated left one place The operation is b7 ----------------- b0 C The 68HC11 has three rotate right instructions that operate on 9-bit operands. [<label>] ROR opr [<comment>] -- memory location opr is rotated right one place [<label>] RORA [<comment>] -- accumulator A is rotated right one place [<label>] RORB [<comment>] -- accumulator B is rotated right one place The operation is b7 ----------------- b0 C

  42. Example 2.18 Suppose that [A] = $74 and C = 1. Compute the new values of A and C after the execution of the instruction ASLA. Solution: The operation is 0 1 1 1 0 1 0 0 0 1 1 1 0 1 0 0 0 0 C A Result: [A] = %11101000 C = 0 Example 2.19 Suppose that [mem[$00]] = $F6 and C = 1. Compute the new values of mem[$00] and the C flag after the execution of the instruction ASR $00. Solution: The operation is 1 1 1 1 0 1 1 0 1 1 1 1 1 0 1 1 0 mem[$00] C Result: [mem[$00]] = %11111011 C = 0

  43. Example 2.20 Suppose that [mem[$00]] = $F6 and C = 1. Compute the new contents of mem[$00] and the C flag after the execution of the instruction LSR $00. Solution: The operation is 0 1 1 1 1 0 1 1 0 0 1 1 1 1 0 1 1 0 mem[$00] C Result: [mem[$00]] = % 01111011 C = 0 Example 2.21 Suppose that [B] = $BE and C = 1. Compute the new values of B after the execution of the instruction ROLB. Solution: The operation is 1 0 1 1 1 1 1 0 1 0 1 1 1 1 1 0 1 1 B C Result: [B] = % 01111101 C = 1

  44. Example 2.22 Suppose that [B] = $BE and C = 1. Compute the new values of mem[$00] after the execution of the instruction RORB. Solution: The operation is 1 1 0 1 1 1 1 1 0 1 1 0 1 1 1 1 1 0 C B Result: [B] = % 11011111 C = 0

  45. Example 2.23 Write a program to count the number of 1s in the 16-bit number stored at $00-$01 and save the result in $02. Solution: * The 16-bit number is shifted to the right up to 16 time or until the shifted value becomes 0. * If the bit shifted out is a 1 then increment the 1s count by 1. org $C000 ldaa #$00 ; initialize the 1s count to 0 staa $02 ; “ ldd $00 ; place the number in D loop lsrd ; shift the lsb of D to the C flag bcc testzero ; is the C flag a 0? inc $02 ; increment 1s count if the lsb is a 1 testzero cpd #0 ; check to see if D is already 0 bne loop end

  46. Shift a multi-byte number For shifting right 1. The bit 7 of each byte will receive the bit 0 of its immediate left byte with the exception of the most significant byte which will receive a 0. 2. Each byte will be shifted to the right by 1 bit. The bit 0 of the least significant byte will be lost. Suppose there is a k-byte number that is stored at loc to loc+k-1. method for shifting right Step 1: Shift the byteat loc to the right one place. Step 2: Rotate the byte at loc+1 to the right one place. Step 3: Repeat Step 2 for the remaining bytes.

  47. For shifting left 1. The bit 0 of each byte will receive the bit 7 of its immediate right byte with the exception of the least significant byte which will receive a 0. 2. Each byte will be shifted to the left by 1 bit. The bit 7 of the most significant byte will be lost. Suppose there is a k-byte number that is stored at loc to loc+k-1. method for shifting left Step 1: Shift the byteat loc+k-1 to the leftt one place. Step 2: Rotate the byte at loc+K-2 to the left one place. Step 3: Repeat Step 2 for the remaining bytes.

  48. Example 2.24 Write a program to shift the 32-bit number stored at $20-$23 to the right four places. Solution: ldab #4 ; set up the loop count ldx #$20 ; use X as the pointer to the left most byte again lsr 0,X ror 1,X ror 2,X ror 3,X decb bne again end

  49. Program Execution Time An easy way to create a delay is to use program loops. Use the instructions in Table 2.3 as an example. Table 2.3 Execution times of a sample of instructions Execution time (E clock cycles) Instruction BNE <rel> 3 DECB 2 DEX 3 LDAB <imme> 2 LDX <imme> 3 NOP 2 The following instruction sequence takes 5 ms to execute for 2 MHz E clock signal. again nop ; 2 E cycles nop ; 2 E cycles dex ; 3 E cycles bne again ; 3 E cycles

  50. Example 2.25 Write a program loop to create a delay of 100 ms. Solution: A delay of 100 ms can be created by repeating the previous loop 20000 times. The following instruction sequence creates a delay of 100 ms. ldx #20000 again nop nop dex bne again Longer delays can be created by using nested program loops. Example 2.26 Write a program to create a 10-second delay. Solution: A 10-second delay can be created by repeating the loop in example 2.25 100 times. ldab #100 outer ldx #20000 inner nop nop dex bne inner decb bne outer

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