The HCS12/9S12 An Introduction to Hardware and Software Interfacing

by Huang, Han-Way

• ISBN13: 9781401898120
• ISBN10: 1401898122
• Edition: CD
• Format: Hardcover
• Copyright: 2005-07-26
• Publisher: Cengage Learning

Summary

This new book provides a total solution for learning and teaching embedded system design based on the Motorola HCS12/9S12 microcontroller. Readers will learn step-by-step how to program the HCS12 using both assembly and C languages, as well as how to use such development tools as asmIDE, MiniIDE, GNU C, and EGNU IDE. Supportive examples clearly illustrate all applications of the HCS12 peripheral functions, including parallel port, timer functions, PWM, UART port, SPI, I2C, CAN, on-chip flash and EEPROM programming, external memory expansion, and more. A back-of-book CD contains the source code for all examples in the book, several groups of reusable utility functions, and complimentary freeware development tools for improved learning.

Author Biography

Han-Way Huang is a Professor in the Department of Electrical and Computer Engineering and Technology at Minnesota State University, Mankato, MN.

Table of Contents

Preface
Introduction to the HCS12 Microcontroller	1	(28)
Objectives	1	(1)
Basic Computer Concepts	2	(5)
The Processor	2	(3)
Memory	5	(2)
The Computer's Software	7	(2)
The HCS12 CPU Registers	9	(2)
Memory Addressing	11	(1)
HCS12 Addressing Modes	12	(6)
Inherent Mode	13	(1)
Immediate Mode	13	(1)
Direct Mode	13	(1)
Extended Mode	14	(1)
Relative Mode	14	(1)
Indexed Modes	15	(3)
Addressing More than 64 Kbytes	18	(1)
HCS12 Instruction Examples	18	(5)
The Load and Store Instructions	19	(1)
Transfer and Exchange Instructions	20	(1)
Move Instructions	21	(1)
Add and Subtract Instructions	22	(1)
Instruction Queue	23	(1)
Instruction Execution Cycle	24	(1)
Embedded Systems	24	(2)
Summary	26	(1)
Exercises	27	(2)
HCS12 Assembly Programming	29	(48)
Objectives	29	(1)
Assembly Language Program Structure	30	(2)
The Label Field	30	(1)
The Operation Field	31	(1)
The Operand Field	31	(1)
The Comment Field	31	(1)
Assembler Directives	32	(3)
Software Development Issues	35	(2)
Writing Programs to Do Arithmetic	37	(13)
Carry/Borrow Flag	39	(1)
Multiprecision Addition	40	(2)
Subtraction and the C Flag	42	(1)
Multiprecision Subtraction	42	(1)
Binary-Coded-Decimal (BCD) Addition	43	(2)
Multiplication and Division	45	(5)
Program Loops	50	(12)
Condition Code Register	53	(1)
Branch Instructions	53	(2)
Compare and Test Instructions	55	(1)
Loop Primitive Instructions	56	(3)
Decrementing and Incrementing Instructions	59	(1)
Bit Condition Branch Instructions	60	(2)
Instructions for Variable Initialization	62	(1)
Shift and Rotate Instructions	62	(6)
Boolean Logic Instructions	68	(1)
Bit Test and Manipulate Instruction	69	(1)
Program Execution Time	70	(2)
The Multiply and Accumulate Instruction EMACS	72	(1)
Summary	73	(1)
Exercises	74	(3)
Members and Hardware and Software Development Tools	77	(48)
Objectives	77	(1)
HCS12 Members	78	(1)
Development Tools for the HCS12	79	(1)
HCS12 Demo and Evaluation Boards	80	(3)
The SSE256 Demo Board	80	(2)
The Dragon 12 Demo Board	82	(1)
The D-Bug12 Monitor	83	(2)
The D-Bug12 Operating Modes	83	(1)
EVB Mode	83	(2)
Using a Demo Board with the D-Bug12 Monitor	85	(21)
Starting the AsmIDE	87	(1)
Communicating with the Demo Board	87	(1)
Using the D-Bug12 Commands	88	(11)
Entering an Assembly Program	99	(1)
Assembling the Program	100	(1)
Downloading the S-Record File onto the Demo Board for Execution	101	(2)
Running and Debugging the Program	103	(3)
Other D-Bug12 Modes	106	(3)
The Pod Mode	106	(1)
The Jump-to-EEPROM Mode	106	(1)
The Bootloader Mode	107	(2)
Tips for Assembly Program Debugging	109	(5)
Syntax Errors	109	(1)
Logical Errors	109	(5)
BDM-Based Source-Level Debugger	114	(7)
Overview of BDM	114	(1)
BDM Commands	115	(2)
BDM Serial Interface	117	(1)
The BDM-Based Source-Level Debugger	117	(1)
The DragonBDM from Wytec	118	(1)
Using the Wytec DragonBDM Kit	118	(3)
Summary	121	(2)
Lab Exercises and Assignment	123	(2)
Advanced Assembly Programming	125	(56)
Objectives	125	(1)
Introduction	126	(1)
Stack	126	(2)
Indexable Data Structures	128	(4)
Strings	132	(11)
Data Conversion	132	(1)
Character and Word Counting	132	(6)
Word Matching	138	(3)
String Insertion	141	(2)
Subroutines	143	(2)
Issues in Subroutine Calls	145	(1)
Parameter passing	145	(1)
Result returning	146	(1)
Allocation of local variables	146	(1)
The Stack Frame	146	(2)
Examples of Subroutine Calls	148	(13)
Finding the Greatest Common Divisor	148	(2)
Multiple Byte Division	150	(4)
Bubble Sort	154	(4)
Finding the Square Root	158	(3)
Using the D-Bug12 Functions to Perform I/O Operations	161	(12)
Calling D-Bug12 Functions from Assembly Language	162	(1)
Descriptions of Callable Functions	163	(7)
Using the D-Bug12 Functions	170	(3)
Tips for Program Debugging Involving Subroutine Calls	173	(2)
What to Do When the Program Gets Stuck	174	(1)
General Debugging Strategy	174	(1)
Summary	175	(1)
Exercises	176	(2)
Lab Exercises and Assignments	178	(3)
C Language Programming	181	(40)
Objectives	181	(1)
Introduction to C	182	(1)
Types, Operators, and Expressions	183	(4)
Data Types	183	(1)
Variable Declarations	183	(1)
Constants	183	(1)
Arithmetic Operators	184	(1)
Bitwise Operators	184	(1)
Relational and Logical Operators	185	(1)
Precedence of Operators	186	(1)
Control Flow	187	(3)
If Statement	187	(1)
If-Else Statement	187	(1)
Multiway Conditional Statement	187	(1)
Switch Statement	188	(1)
For-Loop Statement	189	(1)
While Statement	189	(1)
Do-While Statement	189	(1)
Goto Statement	190	(1)
Input and Output	190	(1)
Functions and Program Structure	191	(2)
Pointers, Arrays, Structures, and Unions	193	(6)
Pointers and Addresses	193	(1)
Arrays	194	(1)
Pointers and Arrays	195	(1)
Passing Arrays to a Function	195	(1)
Initializing Arrays	196	(1)
Structures	196	(2)
Unions	198	(1)
Miscellaneous Items	199	(2)
Automatic/External/Static/Volatile	199	(1)
Scope Rules	199	(1)
Type Casting	200	(1)
Using the C Compiler	201	(1)
Using the GNU C Compiler and EGNU IDE	201	(13)
The GNU C Compiler	202	(1)
The Procedure for Using the EGNU IDE	202	(11)
Inline Assembly Instructions	213	(1)
C Library Functions for the EGNU IDE	214	(2)
Tips for C Program Debugging	216	(2)
Summary	218	(1)
Exercises	219	(1)
Lab Exercises and Assignments	220	(1)
Interrupts, Clock Generation, Resets, and Operation Modes	221	(34)
Objectives	221	(1)
Fundamental Concepts of Interrupts	222	(4)
What Is an Interrupt?	222	(1)
Why Are Interrupts Used?	223	(1)
Interrupt Maskability	223	(1)
Interrupt Priority	224	(1)
Interrupt Service	224	(1)
Interrupt Vector	225	(1)
Interrupt Programming	225	(1)
Overhead of Interrupts	226	(1)
Resets	226	(1)
HCS12 Exceptions	227	(8)
Maskable Interrupts	227	(3)
Nonmaskable Interrupts	230	(1)
Interrupts in D-Bug12 EVB Mode	231	(4)
Clock and Reset Generation Block (CRG)	235	(10)
Modes of CRG Operation	236	(1)
CRG Signals	237	(1)
The Oscillator Block (OSC)	238	(1)
Phase Locked Loop (PLL)	238	(4)
System Clock Generation	242	(3)
Clock Monitor	245	(1)
Real-Time Interrupt (RTI)	245	(1)
Computer Operating Properly	245	(1)
Low-Power Modes	246	(1)
The WAI Instruction	247	(1)
The Stop Instruction	247	(1)
Resets	247	(1)
Power-On Reset	247	(1)
External Reset	247	(1)
HCS12 Operation Modes	248	(2)
Normal Operation Modes	249	(1)
Special Operation Modes	249	(1)
Background Debug Mode	250	(1)
Summary	250	(1)
Exercises	251	(1)
Lab Exercises and Assignments	252	(3)
Parallel Ports	255	(72)
Objectives	255	(1)
Basic Concepts of I/O	256	(1)
I/O Addressing	257	(1)
I/O Synchronization	257	(4)
Synchronizing the Microprocessor and the Interface Chip	258	(1)
Synchronizing the Interface Chip and I/O Device	259	(2)
Overview of HCS12 Parallel Ports	261	(14)
Port Registers	262	(1)
Port A and Port B	263	(1)
Port E	263	(4)
Port K	267	(1)
Port T	267	(2)
Port S	269	(1)
Port M	270	(2)
Ports H, J, and P	272	(1)
Ports ADO and ADI	273	(1)
Port L	274	(1)
Ports U, V, and W	274	(1)
Electrical Characteristic Considerations for I/O Interfacing	275	(4)
Voltage-Level Compatibility	276	(1)
Current Drive Capability	277	(1)
Timing Compatibility	278	(1)
Interfacing with Simple Input and Output Devices	279	(8)
Interfacing with LEDs	279	(2)
Interfacing with Seven-Segment Displays	281	(5)
Liquid Crystal Displays (LCDs)	286	(1)
The HD44780U LCD Controller	287	(14)
Display Data RAM	289	(2)
Character Generator ROM (CGROM)	291	(1)
Character Generator RAM (CGRAM)	291	(1)
Registers	291	(1)
Instruction Description	292	(1)
Interfacing the HD44780U to the HCS12 Microcontroller	293	(8)
Interfacing with DIP Switches	301	(2)
Interfacing Parallel Ports to a Keypad	303	(6)
Keypad Scanning	303	(1)
Keypad Debouncing	304	(2)
ASCII Code Lookup	306	(3)
Interfacing with a D/A Converter	309	(3)
The AD7302 D/A Converter	309	(1)
Interfacing the AD7302 with the HCS12	310	(2)
Stepper Motor Control	312	(7)
Stepper Motor Drivers	316	(3)
Key Wakeups	319	(3)
Key-Wakeup Registers	319	(1)
Key-Wakeup Initialization	319	(1)
Considerations for the Key-Wakeup Application	320	(2)
Summary	322	(1)
Exercises	323	(2)
Lab Exercises and Assignments	325	(2)
Timer Functions	327	(76)
Objectives	327	(1)
Why Are Timer Functions Important?	328	(1)
Standard Timer Module	329	(1)
Timer Counter Register	330	(2)
Timer System Control Register 1	330	(1)
Timer System Control Register 2 (TSCR2)	331	(1)
Timer Interrupt Flag 2 Register (TFLG2)	331	(1)
Input-Capture Function	332	(9)
Input-Capture/Output-Compare Selection	332	(1)
Pins for Input-Capture	333	(1)
Registers Associated with Input-Capture	333	(1)
Input-Capture Applications	334	(7)
Output-Compare Function	341	(18)
Operation of the Output-Compare Function	341	(1)
Registers Related to the Output-Compare Function	342	(1)
Applications of the Output-Compare Function	343	(5)
Making Sound Using the Output-Compare Function	348	(7)
Using OC7 to Control Multiple Output-Compare Functions	355	(3)
Forced Output-Compare	358	(1)
Pulse Accumulator	359	(11)
Signal Pins	359	(1)
Operation Modes	359	(1)
Interrupt Sources	360	(1)
Registers Related to Pulse Accumulator	361	(2)
Operations of the Enhanced Pulse Accumulators	363	(2)
Pulse Accumulator Applications	365	(5)
Modulus Down-Counter	370	(3)
Using the Modulus Down-Counter to Generate Periodic Interrupts	370	(2)
Using the Modulus Down-Counter to Generate Time Delays	372	(1)
Enhanced Capture Timer (ECT) Module	373	(6)
Enhanced Capture Timer Modes of Operation	373	(1)
Why the Enhanced Capture Timer Module?	374	(1)
The Operation of the Enhanced Input-Capture Function	374	(5)
Pulse-Width Modulation (PWM) Function	379	(14)
PWM Clock Select	379	(4)
PWM Channel Timers	383	(10)
DC Motor Control	393	(4)
Drivers	393	(1)
Feedback	394	(3)
Electrical Braking	397	(1)
Summary	397	(1)
Exercises	398	(2)
Lab Exercises and Assignments	400	(3)
Serial Communication Interface (SCI)	403	(30)
Objectives	403	(1)
Fundamental Concept of Serial Communications	404	(1)
The RS-232 Standard	404	(10)
EIA-232E Electrical Specification	404	(1)
EIA-232E Functional Specification	405	(3)
EIA-232E Mechanical Specification	408	(1)
EIA-232E Procedural Specification	409	(2)
Data Format	411	(2)
Data Transmission Errors	413	(1)
Null Modem Connection	413	(1)
The HCS12 Serial Communication Interface	414	(1)
SCI Baud Rate Generation	415	(1)
The SCI Operation	416	(8)
Character Transmission	417	(3)
Break Characters	420	(1)
Idle Characters	421	(1)
Character Reception	421	(1)
Receiver Wakeup	422	(1)
Single-Wire Operation	423	(1)
Loop Operation	423	(1)
Operation of the SCI in Different MCU Modes	424	(1)
Flow Control of USART in Asynchronous Mode	424	(1)
Interfacing SCI with EIA-232	425	(5)
Summary	430	(1)
Exercises	430	(1)
Lab Exercises and Assignment	431	(2)
Serial Peripheral Interface (SPI)	433	(56)
Objectives	433	(1)
Introduction to the SPI Function	434	(1)
SPI Signal Pins	434	(1)
Registers Related to the SPI Subsystem	435	(3)
SPI Operation	438	(4)
Transmission Formats	438	(2)
Bidirectional Mode (MOMI or SISO)	440	(1)
Mode Fault Error	441	(1)
Low Power Mode Options	441	(1)
SPI Circuit Connection	442	(2)
Configuration of and Data Transfer in SPI	444	(3)
SPI-Compatible Chips	447	(1)
The 74HC595 Shift Register	447	(4)
The TC72 Digital Thermometer	451	(7)
Functioning of TC72	451	(1)
Temperature Data Format	451	(1)
Serial Bus Interface	452	(2)
Internal Register Structure	454	(4)
The D/A Converter TLV5616	458	(6)
Signal Pins	458	(1)
Data Format	459	(1)
TLV5616 Output Voltage	459	(1)
Data Shifting Timing	459	(1)
Interfacing the TLV5616 with the HCS12	460	(4)
Matrix LED Displays	464	(2)
The Organization of Matrix LED Displays	464	(1)
Colors of Matrix LED Displays	464	(1)
Connection Method	464	(1)
Dimension of Matrix LED Displays	464	(1)
Method of Driving Matrix LED Displays	464	(2)
The MAX6952 Matrix LED Display Driver	466	(17)
Pin Functions	467	(1)
Internal Registers	468	(7)
Blinking Operation	475	(1)
Choosing Values for RSET and CSET	476	(7)
Summary	483	(1)
Exercises	484	(3)
Lab Exercises and Assignment	487	(2)
Inter-Integrated Circuit (I2C) Interface	489	(62)
Objectives	489	(1)
The I2C Protocol	490	(11)
Characteristics of I2C Protocol	490	(1)
I2C Signal Levels	490	(1)
I2C Data Transfer Signal Components	491	(2)
Synchronization	493	(1)
Arbitration	494	(1)
Data Transfer Format	495	(1)
7-bit Addressing	496	(2)
10-bit Addressing	498	(3)
An Overview of the HCS12 I2C Module	501	(1)
Registers for I2C Operation	502	(7)
The I2C Address Register (IBAD)	502	(1)
The I2C Control Register (IBCR)	502	(1)
The I2C Status Register (IBSR)	503	(2)
The I2C Data Register (IBDR)	505	(1)
The I2C Frequency Divider Register (IBFD)	505	(4)
Programming the I2C Module	509	(4)
Generation of the Start Condition	510	(1)
I2C Data Transfer in Master Mode	511	(2)
I2C Data Transfer in Slave Mode	513	(1)
The Serial Real-Time Clock DS1307	513	(13)
Signal Functions	513	(1)
RTC and RAM Address Map	514	(1)
Clock and Calendar	515	(1)
The DS1307 Control Register	516	(1)
Data Transfer	516	(1)
Circuit Connection	517	(9)
The Digital Thermometer and Thermostat DS1631A	526	(13)
Pin Assignment	526	(1)
Functional Description	527	(1)
DS1631A Registers	528	(1)
The DS1631A Operation	528	(2)
DS1631A Command Set	530	(1)
I2C Communication with DS 1631A	531	(8)
Interfacing the Serial EEPROM 24LC08B with I2C	539	(9)
Pin Assignment and Block Diagram	539	(1)
Device Addressing	540	(1)
Write Operation	541	(1)
Acknowledge Polling	541	(1)
Read Operation	541	(2)
Circuit Connection Between the I2C Master and the 24LC08B	543	(5)
Summary	548	(1)
Exercises	549	(1)
Lab Exercises and Assignments	550	(1)
Analog-to-Digital Converter	551	(42)
Objectives	551	(1)
Basics of A/D Conversion	552	(6)
A Data Acquisition System	552	(1)
Analog Voltage and Digital Code Characteristic	552	(2)
A/D Conversion Algorithms	554	(2)
Optimal Voltage Range for A/D Conversion	556	(1)
Scaling Circuit	556	(1)
Voltage Translation Circuit	557	(1)
The HCS12 A/D Converter	558	(10)
Signal Pins Related to A/D Converter	559	(1)
Registers Associated with A/D Converter	560	(8)
The Functioning of the ATD Module	568	(3)
Analog Input Multiplexer	568	(1)
ATD Module Clock	568	(1)
Sample-and-Hold Stage	568	(1)
Input Channel Wraparound	569	(1)
FIFO Mode	569	(1)
External Trigger Source	570	(1)
Signed and Unsigned Control	570	(1)
ATD Operation Modes	570	(1)
Procedure for Performing A/D Conversion	571	(4)
Using the Temperature Sensor TC1047A	575	(6)
Using the IH-3606 Humidity Sensor	581	(3)
Measuring Barometric Pressure	584	(4)
Summary	588	(1)
Exercises	588	(3)
Lab Exercises and Assignments	591	(2)
Controller Area Network (CAN)	593	(60)
Objectives	593	(1)
Overview of Controller Area Network	594	(2)
Layered Approach in CAN	594	(1)
General Characteristics of CAN	594	(2)
CAN Messages	596	(7)
Data Frame	596	(3)
Remote Frame	599	(1)
Error Frame	600	(1)
Overload Frame	600	(1)
Interframe Space	601	(1)
Message Filtering	602	(1)
Message Validation	602	(1)
Bitstream Encoding	602	(1)
Error Handling	603	(1)
Bit Error	603	(1)
Stuff Error	603	(1)
CRC Error	603	(1)
Form Error	603	(1)
Acknowledgment Error	603	(1)
Error Signaling	603	(1)
Fault Confinement	603	(1)
CAN Node Status	603	(1)
Error Counts	604	(1)
CAN Message Bit Timing	604	(1)
Nominal Bit Time	604	(1)
Length of Time Segments	605	(1)
Synchronization Issue	605	(1)
Resynchronization Jump Width	605	(1)
Phase Error of an Edge	606	(1)
Overview of the HCS12 CAN Module	606	(2)
MSCAN Module Memory Map	608	(20)
MSCAN Control Registers	608	(10)
MSCAN Message Buffers	618	(5)
Transmit Storage Structure	623	(1)
Receive Storage Structure	624	(1)
Identifier Acceptance Filter	625	(1)
MSCAN Clock System	625	(2)
MSCAN Interrupt Operation	627	(1)
MSCAN Initialization	627	(1)
Physical CAN Bus Connection	628	(4)
The MCP2551 CAN Transceiver	629	(1)
Interfacing the MCP2551 to the HCS12 CAN Devices	630	(2)
Setting the CAN Timing Parameters	632	(4)
MSCAN Configuration	636	(2)
Data Transmission and Reception in MSCAN	638	(10)
MSCAN Data Transmission Programming	639	(2)
MSCAN Data Reception Programming	641	(3)
Putting It All Together	644	(4)
Summary	648	(1)
Exercises	649	(1)
Lab Exercises and Assignments	650	(3)
Internal Memory Configuration and External Memory Expansion	653	(154)
Objectives	653	(1)
Introduction	654	(1)
Internal Resource Remapping	654	(5)
Register Block Mapping	655	(1)
SRAM Mapping	656	(1)
EEPROM Mapping	656	(1)
Miscellaneous Memory Mapping Control	656	(3)
Expanded Memory Mapping	659	(2)
On-Chip Flash Memory	661	(16)
Flash Memory Map	661	(1)
Flash Memory Protection	661	(3)
Flash Memory Related Registers	664	(4)
Securing the Flash Memory	668	(1)
Unsecuring the Microcontroller	668	(2)
Configuring the FCLKDIV Register	670	(1)
Flash Memory Programming and Erasure Algorithms	671	(6)
The On-Chip EEPROM Memory	677	(9)
EEPROM Memory Map	677	(1)
EEPROM Associated Registers	677	(4)
EEPROM Protection	681	(1)
Configuring the ECLKDIV Register	681	(1)
Programming and Erasure of EEPROM	681	(5)
HCS12 External Memory Interface	686	(7)
HCS12 Pins for External Memory Interfacing	686	(2)
Waveforms of Bus Signals	688	(1)
Bus Transactions	689	(2)
Bus Multiplexing	691	(1)
The HCS12 Bus Cycles	691	(2)
Issues Related to Adding External Memory	693	(3)
Memory Space Assignment	694	(1)
Address Decoder Design	695	(1)
Timing Verification	696	(1)
Memory Devices	696	(8)
The K6R1008C1D	696	(1)
The AT28C010 EEPROM	697	(7)
Example of External Memory Expansion for the HCS12	704	(9)
Memory Space Assignment	706	(1)
Address Latch	707	(1)
Address Decoder Design	708	(1)
Write Control Signals	708	(1)
Example HCS12 External Memory Design	709	(4)
Summary	713	(1)
Exercises	714	(1)
Lab Exercises and Assignments	714	(1)
Appendices
A. Instruction Set Reference	715	(22)
B. Summary Features of HCS12 Devices	737	(4)
C. Tutorial for Using the MiniIDE	741	(14)
D. MC9S12DP256 Registers	755	(26)
E. LCD Functions for the SSE256 Demo Board	781	(4)
F. Music Note Frequencies	785	(4)
G. Using the MAX7221 LED Display Driver	789	(18)
References	807	(2)
Glossary	809	(10)
Index	819

Excerpts

"This new book provides a total solution for learning and teaching embedded system design based on the Motorola HCS12/9S12 microcontroller. Readers will learn step by step how to program the HCS12 using both assembly and C languages, as well as how to use such development tools as asmIDE, MiniIDE, GNU C, and EGNU IDE. Supportive examples clearly illustrate all applications of the HCS12 peripheral functions, including parallel port, timer functions, PWM, UART port, SPI, 12C, CAN, on-chip flash, EEPROM programming, external memory expansion, and more. A back-of-book CD contains the source code for all examples in the book, several groups of reusable utility functions, and complimentary freeware development tools for improved learning."--BOOK JACKET.