Table of Contents

  • 1 Abstract
  • 2 Introduction
  • 3 Running Alternate Function Sets
  • 4 TPU Control Store Organization
  • 5 Emulation Mode Memory Map
  • 6 Selecting Functions from the TPU Library
  • 7 Checking Code Size
  • 8 Obtaining Source Code from the Bulletin Board
  • 9 Assembling a New Function Set:
  • 10 Assembly Errors
  • 11 Installing and Running Code in Emulation Mode

    USING THE TPU FUNCTION LIBRARY AND TPU EMULATION MODE


    Order this document by TPUPN00/D
    © MOTOROLA INC, 1997
    MOTOROLA SEMICONDUCTOR PROGRAMMING NOTE
    USING THE TPU FUNCTION LIBRARY AND TPU EMULATION MODE
    By Jeff Wright and Mike Pauwels

    1 Abstract
    The Motorola time processor unit TPU is an on chip peripheral device used in the M68300 and
    M68HC16 families of modular microcontrollers. This note describes the TPU function library and explains
    how to use it. There is sufficient information for a user to select a new suite of functions from the
    library, assemble them to run in TPU emulation mode, and submit the debugged assemblage as a new
    TPU micro ROM code mask. Although background information is provided, the reader must refer to the
    TPU Reference Manual
    TPURM/AD for details. This note is the first of a series. Subsequent notes
    document functions in the library.

    2 Introduction
    The time processor unit is a powerful, intelligent, on-chip peripheral. It is effectively a "co-microcontroller"
    dedicated to performing complex timing and I/O tasks, and thus relieves the CPU of most of the overhead
    associated with these tasks. Major TPU components are:

  • 16 channels each associated with an I/O pin, an input capture register, and an output compare register with comparator.
  • Two free-running 16-bit counters with programmable prescalers used for timing control of channel events.
  • A task switched microengine that interfaces to each of the channels and executes microcode programs to control those channels.
  • A control store (micro- ROM) that contains programs the microengine executes.
  • A dual-port RAM for communication between the TPU and the host CPU.

    The control store can contain up to 16 separate microengine programs (called TPU functions), each of
    which can be executed on any one or more of the 16 TPU channels. The standard TPU control store
    contains nine factory programmed functions that can perform a wide variety of control tasks. However
    the standard functions may not be adequate for all applications. New TPU functions can be developed
    either by Motorola or by the user to meet additional needs. In the future there may be new combinations
    of functions released as standard TPU micro-ROM masks by Motorola.

    The procedures detailed in this note are intended for users who have found that the standard TPU functions
    do not ideally match the requirements of their application and who wish to investigate alternative
    Motorola functions or who wish to integrate one or more functions they have written with standard functions.
    The actual development of new TPU functions is beyond the scope of this document, but a microcode
    training course from Motorola is available on request. It is strongly recommended that for
    simplicity, new TPU users should attempt to fit the standard control store functions to their application
    before taking this approach.


    3 Running Alternate Function Sets
    A user who wishes to use a new TPU function set has two options:

    1. Assemble the new function set and have a custom TPU micro ROM mask made. A mask
    charge and minimum order quantity are associated with this option.
    2. Make use of the special emulation mode built into the TPU. In emulation mode on-chip RAM
    normally used by host CPU is loaded with TPU microcode and then configured for TPU use.
    (see
    Figure 1) In emulation mode the TPU can run a new function set from RAM with no loss
    of performance. Bear in mind that on chip RAM used by the TPU cannot be used by the CPU;
    and that loading emulation RAM with TPU code after power up takes time. In many cases emulation
    mode provides the most suitable and cost effective approach to development and use
    of new code.

    4 TPU Control Store Organization
    The TPU control store consists of a contiguous 2 Kbyte block of micro ROM arranged as 512 long words
    (See
    Figure 2). This memory is divided into a microcode segment and an entry point segment. Each
    TPU function has 16 word sized entry points associated with it; there are a total of 128 long words for
    all 16 possible functions. Entry points are arranged in order by function number 0 to 15. Function numbers
    are assigned to functions as part of the assembly process. Each entry point acts as a vector, forcing
    function execution to begin at a known address. The entry point vector used at the start of each
    channel service depends on several conditions. Refer to the TPU Reference Manual TPURM/AD for
    more information.

    It is often neither possible nor necessary to fit 16 functions into the control store. When this is the case,
    the memory area occupied by entry points of unused function numbers is available for extra microcode
    space. Begin function number assignment with 15 and work down so that any unused entry point segment
    is contiguous with the normal microcode segment. This is the most efficient use of the available
    space. Figure 3 shows unused entry points being used for additional opcode space.

    5 Emulation Mode Memory Map
    When the TPU enters emulation mode, internal microcontroller RAM is dedicated to the TPU and replaces
    the control store ROM. Most microcontrollers currently available with a TPU have a full 2 Kbytes
    of internal RAM which allows complete emulation of the control store.
    Figure 2 shows the equivalent
    host CPU byte addresses that are used to load internal RAM with TPU microcode before invoking emulation
    mode.

    The MC68334 microcontroller contains 1 Kbyte of internal RAM. With this device it is only possible to
    emulate half the TPU control store at any one time.
    Figure 4shows emulation memory map and equivalent
    RAM addresses for this device.

    In the MC68F333 microcontroller the 3.5 Kbyte TPURAM module is larger than the TPU microcode
    control store. In this device, only a portion of the RAM is used for TPU emulation, but the entire RAM
    is removed from the CPU memory map during emulation. In the future there may be other microcontrollers
    with on-chip RAM modules that are larger than the TPU microcode control store, however the
    emulation mode memory map will never be larger than the control store map.


    Figure 1
    Figure 1 On Chip RAM Configuration

    Figure 2
    Figure 2 TPU Control Store and 2 Kbyte Emulation RAM Map

    Figure 3
    Figure 3 Extending Microcode Segment By Means of Unused Entry Points

    Figure 4
    Figure 4 1 Kbyte Emulation RAM Memory Map

    6 Selecting Functions from the TPU Library
    To support changing TPU application requirements and to allow inclusion of customer-defined TPU
    functions, Motorola has established a TPU function library. The function library is a collection of TPU
    functions written for easy assembly in combination with each other or with custom functions. The library
    currently includes all functions from the standard microcode ROM and several others that offer additional
    functionality (See
    Appendix B). Other functions are being developed the list of functions will continue
    to grow as Motorola responds to requests for new features.

    Documentation for all TPU functions is available either in the TPU reference manual or in the form of
    a separate application report. Source code for functions, which is required to combine them into a new
    set, is available from the Motorola bulletin board or via your local Motorola technical representative.

    Due to limited microcode ROM size, compromises must often be made when selecting functions for inclusion
    in a new set. There are typically one or more critical operations for a given application that must
    have the best possible performance and several other operations with lower performance demands.

    Critical operations determine the primary functions in the new set; the remaining task is to fit functions
    suitable for other operations into available code space. If there is not enough space for all the functions
    initially desired, a performance/code size trade-off must be made. For example, there may be two functions
    that perform essentially the same operation, but one is more sophisticated and therefore more attractive
    to the user. Sophisticated functions typically require more code space than simpler functions.
    By selecting the simpler function, and perhaps accepting a small increase in CPU overhead, the required
    functionality can be made to fit in the available space. It might also be possible to fulfill two sets
    of requirements with a single function, perhaps with a performance limitation that can be tolerated in the
    given application. For example the Queued Output Match function can be used to generate a PWM
    signal or to control an output pin, and thus might replace the PWM and DIO functions.

    7 Checking Code Size
    All the TPU functions in Appendix B have a code size given in long words that includes the entry points.
    As will be explained later two additional long words are always required when combining these functions.
    The code space occupied is equal to the sum of the code sizes of the selected functions plus two --
    this total must be less than or equal to the 512 long word limit 256 for a device with 1 Kbyte of RAM.
    When more than one of the selected functions include call the same subroutine file the code sizes of
    all the functions except one can be reduced by the size of the subroutine file The following example
    shows both cases:

    Function A has a code size of 40 long words including subroutine file X
    Function B has a code size of 35 long words
    Function C has a code size of 50 long words including subroutine file Y
    Function D has a code size of 63 long words including subroutine file X
    Subroutine X consists of 10 long words
    Subroutine Y consists of 6 long words
    Total code size after combining functions A B C and D is
    40 35 50 63 10 2 180 long words


    8 Obtaining Source Code from the Bulletin Board
    The source code for all library functions is available on Motorola bulletin boards The bulletin board
    number in the United States is 512 891 3733 The European bulletin board is available through the
    Motorola Munich sales office consult your representative for the number Log on to the bulletin board
    as usual follow the directions to the TPU section and then download source files and documentation.

    9 Assembling a New Function Set
    Once desired functions have been selected and total code size has been verified to be within the 512
    long word limit source code for individual functions must be assembled to generate executable code
    Follow the procedures below using the freeware TPU assembler
    TPUMASM.

    TPUMASM.EXE is a microcode assembler that converts source code into hexadecimal code for the
    TPU microengine It runs on IBM PC and compatible computers and produces a listing file an S 19 file
    a symbol table and a debugging file The symbol table and the debugging file are used only by the TPU
    debugger.

    Documentation for TPUMASM is available from Motorola technical representatives
    The following procedures provide sufficient information for the successful compilation of a new function
    set from existing previously tested functions.

    1 After selecting the functions to include in a new set and obtaining the source code for these
    functions the user must write the source file that will be assembled by TPUMASM
    2 As part of the assembly process function numbers must be assigned to the selected functions
    Each function in the set must have a unique number from 15 to 0 Assign function numbers from
    15 down to make most efficient use of microcode space When including functions from the
    standard set it is not necessary to keep the same function number documented in the TPU reference
    manual Function numbers assigned here are those that the CPU must write into the
    channel function select registers when the TPU is to execute a function on a specific channel
    Selection of the function number for a given function is not related to the channel number selected
    to execute the function.
    3 After the filename and function numbers have been selected a source file can be created The
    file should take the form shown in Figure 5


    %org 0.
    End_of_phase: end.(* provide common exit points for *)
    End_of_link: (* library functions *)
    chan neg_lisl;
    end.
    %Include qdec.uc'; function = 15.
    (* include function qdec as function number 15 *)
    %Include pwm.uc'; function = 14.
    (* include function pwm as function number 14 *)
    %Include ppwa.uc'; function = 13.
    (* include function ppwa as function number 13 *)
    %Include qom.uc'; function = 12.
    (* include function qom as function number 12 *)
    %Include dio.uc'; function = 11.
    (* include function dio as function number 11 *)
    %Include oc.uc';function = 10.
    (* include function qdec as function number 10 *)
    (* This is the end of the file *)
    

    Figure 5 Example TPU Library Source File

    The example assembles six functions. The various fields of the example source file have the following
    meanings:

    (* this is a comment *)
    %org 0
    

    The %org assembler directive sets the microcode address for the start of the assembly. It is normal as
    in this example to set the origin to zero when assembling a new function set for emulation in a 2 Kbyte
    RAM module. For the MC68334 device which has a 1 Kbyte RAM module, set the microcode origin to
    100.

    End_of_phase: end.
    End_of_link: chan neg_lsl;
    end.
    

    These two fields are actually microcode source code and labels that are commonly used in TPU functions.
    They have been separated from the individual functions and are called using the common label
    names. This allows all the functions to share the same two instructions thus saving code space. These
    instructions must always be included when assembling library functions; they fill the extra two long
    words that are added when calculating whether functions fit into the 512 long word code space

    %include funcname';function = funcnumber.
    

    This directive tells the assembler to include the TPU source code file of name funcname and assign
    it the function number funcnumber. The function number is that chosen in step 2; it can be entered in
    hexadecimal or decimal form. Function position in the combined code is determined by the order of the
    include directives and not by function number; this is shown in
    Figure 3 where the functions appear
    to be out of order.

    4. Invoke TPUMASM: To assemble the source file created above, type:

    >TPUMASM filename

    TPUMASM assembles filename and all include files and produces files named "filename.lst", "filename.S19",
    "filename.SYM" and "filename.TAB". If errors are generated, they are displayed during assembly
    and are also present in the listing file.

    APPENDIX C shows an example TPUMASM listing file. The listing file includes a memory map entry
    list and identifier cross reference. All microcode fields include a "+" in the first column and are written
    as eight character (32 bit) hexadecimal numbers

    10 Assembly Errors
    To maximize code efficiency, several functions may share a common subroutine. To avoid code duplication
    when assembling functions together, such a subroutine is often in a separate file which is incorporated
    via an include directive in the individual function source files. An example of this approach is
    the Link chan subroutine which is called by several of the library functions. This subroutine is in a file
    of its own called Linkchan and the appropriate directive %include Linkchan is present in all the functions
    that call it.

    Revision 3 and later revisions of TPUMASM have a multiple include capability; the assembler ignores
    second and subsequent inclusions of the same file but appends a warning message at the end of assembly
    to protect against an attempt to include two different files of the same name. Earlier versions of
    the assembler do not have this capability; when functions that call the same subroutine are assembled
    together illegal label errors occur, and it is necessary to remove the include directive from all but
    one of the source files.

    Assuming that all included files have been previously tested, and that there are no memory map violations,
    there should be no assembly errors. However, in case an error does occur, the most common
    assembly error messages together with corrective action for each type of error are listed in Appendix A

    11 Installing and Running Code in Emulation Mode
    Installing and running code in emulation mode involves three steps:

    1 Configuring the on-chip Emulation RAM
    Reset clears the RAM base address register RAMBAR. Since RAMBAR contains both the array
    base address and the RAM module enable bit, a new base address must be set up and the
    RAM module must be enabled before the RAM can be loaded.

    The RAM base address must not conflict with other system memory or memory mapped peripherals.
    The RAM module (1K or 2K) can reside on any 2 Kbyte boundary in the MCU address
    map. In the case of the 1-Kbyte module, the RAM resides in the upper 1 Kbyte of the 2 Kbyte
    address block.

    RAMBAR can be written only once after reset. Enable the RAM module by writing the base address
    and enable bit with a single word write operation. Make certain that all stack pointers
    point to addresses elsewhere is system memory before attempting to execute a load procedure.
    Refer to the documentation for the RAM module.

    2 Loading the code into RAM
    There are two methods of writing assembled microcode into emulation RAM:

    When operating under a monitor such as CPU32Bug, microcode can be downloaded in S-record
    form from the host. The specific host communication program used to communicate with
    the monitor must provide a download facility for this purpose.


    When operating under user program control, microcode must be assembled or compiled in the
    form of a data table by the host CPU program, then moved into emulation RAM under CPU program
    control. Time taken to move microcode into RAM is the only penalty for using emulation
    mode rather than a custom microcode mask, and the penalty should only be incurred once after
    reset.

    3 Putting the TPU into Emulation Mode
    After RAM has been configured and loaded with microcode, it is necessary to enable RAM emulation
    mode for TPU access. To enable emulation mode, use either the monitor or a control
    program to set the EMU bit in the TPU module configuration register. Since the module configuration
    register contains write-once fields, it is also necessary to write the TPU prescaler control
    fields at the same time. Should a subsequent reset occur the configuration register must be
    rewritten, but it may not be necessary to reload emulation RAM. See the TPU Reference Manual
    TPURM/AD for more information about the module configuration register.

    While the TPU is in emulation mode, the RAM module is removed from the CPU memory map,
    and the vacated address space may be allocated to other devices.

    Once procedures for loading and configuring the TPU for emulation mode operation are completed, the
    TPU will run the suite of newly installed functions as though they were contained in the control store
    ROM. To run the functions, the CPU must set up control registers and parameter RAM as explained in
    the documentation for each function.


    Appendix A TPUMASM Error Messages
    Following is a list of TPUMASM error messages, probable causes of error. and corrective action.
    Can't open file File not found by TPUMASM. Check current directory.
    Illegal label Usually occurs when a label name is repeated. If two source files are using the
    same label, use an editor to modify all instances of the label in one of the files. If the same file is included
    more than once, illegal label errors may occur. See main text.

    Can't make macro Usually occurs when a macro name is repeated. Use an editor to modify all
    instances of the label in one of the files.

    Entry Address in use Occurs when code overruns vectors. Too much code being used by microcode,
    or function number too small. Recheck code size and number all functions from 15 down.

    Entry Address already used Occurs when assembler attempts to write vector address in
    space used by microcode. Recheck code size and number all functions from 15 down.

    WARNING DUPLICATE INCLUDE FILES NOT LOADED This is the only warning produced by
    the assembler. It occurs when there has been an attempt to include the same file two or more times.
    The second and subsequent includes will have been ignored.


    Appendix B TPU Function Library
    Following is a description of the TPU function library at the time this note was prepared. New functions
    are continually being developed. The reader is encouraged to obtain the most recent list from the Motorola
    bulletin board. Existing functions may also be revised from time to time. A series of programming
    notes is being written to document each of the functions.

    Each function entry takes the following form:

    Mnemonic Name Code Size*
    A summary of the major features of the function. Function capabilities are not fully described in these notes.

    DCPM Degree Clock with Period Measurement 79
    This input function reads a signal from a toothed wheel sensor, and inserts a selected number of counts at even intervals
    between signals. The resulting count driven on TCR2 continues to a fixed maximum, and then resets providing
    an approximation of the angle of wheel shaft rotation. The period of the last two teeth is maintained in a 23 bit parameter.
    Stall indication is provided via a host interrupt.

    DIO Discrete Input Output 21
    Allows a TPU channel to be used as a digital I/O pin. When the pin is configured as an input, a transition detector can
    indicate a change of state to the CPU. Additionally, the host can define a sample rate at which the pin is to be tested
    and pin state reported to the CPU. The pin state parameter contains the last 16 samples, allowing debounce or noise
    rejection to be accomplished.

    ITC Input Capture Transition Counter 36
    This function can perform a basic input capture operation, where a timer value is captured on a pin transition and reported
    to the CPU. In addition, a user can specify a number of transitions to be counted. On each transition, the captured
    time is returned to the CPU. When the required number of transitions has been counted, the last transition time
    is stored in a different location, and a CPU interrupt request is made. At this point, the function can also automatically
    link to a number of other TPU channels. The sequence of counting transitions can be programmed to occur once only
    or continuously.

    OC Output Compare 39
    This output function generates a rising edge, a falling edge, or a toggle on the channel pin in one of two modes:
    I. When a single edge occurs a programmable period after a user defined time. A start condition can also be specified
    allowing pulse generation.
    II. On receiving a link from another channel, OC generates a continuous 50% duty cycle
    waveform with a period that is calculated, without CPU intervention, by multiplying a period obtained from another TPU
    channel by a user-specified ratio parameter. The OC function can also provide the CPU with current TCR values.

    PMA PMM Period Measurement Additional Missing 88
    This input function, primarily designed for engine control, measures the period in TCR1 clocks between regularly occurring
    input transitions, and makes this period available for use by other functions or by the CPU. PMA mode detects
    when the period between transitions is less than a user-specified fraction of the last normal period additional transitions.
    PMM mode detects when the period between transitions is greater than a user-specified fractional multiple of
    the last normal period missing transitions. After a programmable number of additional or missing transitions are detected,
    the function resets the TCR2 timer counter and interrupts the CPU. The PMA PMM process is continuous and
    requires no CPU intervention once configured.

    PPWA Period Pulse Width Accumulator 63
    This input function accumulates a 24 bit sum of either the period or the high time pulse width of an input signal over a
    programmable number of periods/pulses 1 to 255. An interrupt request is made when the specified number of periods/
    pulses has elapsed. The period/pulse width is sampled at a rate defined by the user, and the incomplete sum is available
    to the user. By linking to an OC channel an output signal can be generated that is proportional to that applied to the
    PPWA channel.

    PSP Position Synchronized Pulse 96
    This output function generates pulses of variable length at specified angles when an angle clock has been fed into the
    TCR2 input pin. Angle clock period is measured in TCR1 clocks using the PMA/PMM function on another channel.
    The function uses a fractional multiply on the PMA/PMM period to accurately position pulses to a higher angular resolution
    than that provided by the TCR2 angle clock. The rising edge of the pulse is always defined as an angle and the
    falling edge can be specified as a second angle or as a time after the rising edge. Once configured, the PSP function
    continuously generates pulses based on the latest period information obtained from a PMA/PMM channel without CPU
    intervention.

    PTA Programmable Time Accumulator 60
    This input function accumulates a 32 bit sum corresponding to the period the high time or the low time of an input
    signal over a programmable number (1 to 255) of periods pulses. A CPU interrupt request is made and optionally
    links when the specified number of periods/pulses elapses. This function is an extension of the PPWA function but it
    has no programmable update rate.

    PWM Pulse Width Modulation 32
    This function generates a pulse width modulated waveform. The period and/or high time of the waveform can be
    changed at any time by the CPU. The function supports both 0 and 100% duty cycles. Very high resolution can be
    obtained depending on the frequency required.

    QDEC Quadrature Decode 29
    This input function uses two channels to decode a pair of out-of-phase signals in order to present the CPU with directional
    information and a position value. It is particularly suitable for use with slotted encoders employed in motor control.
    The function derives full resolution from the encoder signals and provides a 16-bit position counter with rollover/under
    indication via an interrupt.

    QOM Queued Output Match 52
    This output function lets the user set up multiple output events in a variable-sized match table which is processed by
    the TPU without CPU intervention. The pin response for each output event is independently programmable. This allows
    multiple entries with the same pin response to be used, which effectively increases the range of a single output event.
    The function includes loop modes, which cycle through the table continuously, or a programmable number of times. A
    link can be used to trigger the function.

    RWTPIN Read Write Timers and Pin 18
    This function allows a TPU channel to be used as a digital I/O pin. It also allows the CPU to read both TCRs and to
    selectively write to each TCR. Upon receipt of a link, the function reads the timers, updates the channel pin, and interrupts
    the CPU. The function can also be used to manipulate the timers only with no effect on the pin, thus making it
    suitable for use on a channel that has its pin controlled by another channel.

    SM Stepper Motor Control 71
    This function allows a sequential group of up to eight TPU channels to be used to drive a stepper motor. Once the function
    is configured, the CPU need only specify the required position and the function automatically accelerates and decelerates
    the motor to the desired position. The algorithm provides 14 programmable step rates for linear acceleration
    and deceleration control.

    SPWM Synchronized PWM 54
    This output function generates a PWM waveform. The CPU can change the period and or the high time of the waveform
    at any time. SPWM differs from the PWM function in that rising edges have a programmable time relationship to transitions
    on another TPU channel, including other SPWM channels. Three different operating modes allow the function
    to maintain complex timing relationships between channels without CPU intervention. 0 and 100% duty cycles are
    not supported.

    *Code sizes of these functions include the subroutine file LINKCHAN (eight long words) If two or more of these
    functions are used, the code sizes of all but one can be reduced by eight long words.


    Appendix C EXAMPLE TPUMASM LISTING
    $ 1 (* ****************************************************************** *)
    $ 2 (* TEST.ASC - standard exits plus one include *)
    $ 3 (* ****************************************************************** *)
    $ 4 %org 0.
    $ 5
    +000/3FFFFFFE 6 End_of_phase: end.
    $ 7
    $ 8 End_of_link: chan neg_lsl;
    +001/7FFFFEFE9 end.
    $ 10
    $ 11 %include sqw.uc'; function = $F.
    $ 1 1 (* Translated by TPUCNV.EXE V0.4 *)
    $ 1 2 (*******************************************************************)
    $ 1 3 (* *)
    $ 1 4 (* Function: SQW - SQUARE WAVE *)
    $ 1 5 (* *)
    $ 1 6 (* Creation Date: 03/Mar/92 From: NEW *)
    $ 1 7 (* *)
    $ 1 8 (* Author: Amy Dyson *)
    $ 1 9 (* *)
    $ 1 10 (* Description: *)
    $ 1 11 (* ------------ *)
    $ 1 12 (*SQW produces a continuous square wave after initialization.The *)
    $ 1 13 (*user chooses the period by writing the parameter HIGH_TIME in ram. *)
    $ 1 14 (* (High time and low time are the same.) HIGH_TIME must be between *)
    $ 1 15 (* $0000-$8000. *)
    $ 1 16 (* *)
    $ 1 17 (* Updates: By: Modification: *)
    $ 1 18 (* -------- --- ------------- *)
    $ 1 19 (* 11/Apr/93 JL Converted to new syntax. *)
    $ 1 20 (* *)
    $ 1 21 (*---------------------------------------------------------------- *)
    $ 1 22 (* Standard Exits Used:- End_Of_Phase: N End_Of_Link: Y *)
    $ 1 23 (* *)
    $ 1 24 (* External Files included: NONE *)
    $ 1 25 (* *)
    $ 1 26 (* CODE SIZE excluding standard exits = 11 LONG WORDS *)
    $ 1 27 (*---------------------------------------------------------------- *)
    $ 1 28 (* *)
    $ 1 29 (* *)
    $ 1 30 (********** This Revision: REV B ********)
    $ 1 31 (* *)
    $ 1 32 (******** LAST MODIFIED: 11/Apr/93 BY: Jeff Loeliger *******)
    $ 1 33 (* *)
    $ 1 34 (***************************************************************** *)
    $ 1 35
    $ 1 36
    $ 1 37 (*()()()()()()()()()() DATA STRUCTURE ()()())()()()()()()()()()() *)
    $ 1 38 (* *)
    $ 1 39 (* name: Written By: Location Bits: *)
    $ 1 40 (* ----- ----------- --------------- *)
    $ 1 41 (* HIGH_TIME_SQW CPU Parameter0 0.15 *)
    $ 1 42 (* High time of period. (Also the low time, since *)
    $ 1 43 (* this is a square wave.) HIGH_TIME_SQW cannot *)
    $ 1 44 (* be greater than $8000. *)
    $ 1 45 (* *)
    $ 1 46 (* hsr1 hsr0 Action *)
    $ 1 47 (* ---- ---- ------ *)
    $ 1 48 (* 1 1 Initialize continuous square wave *)
    $ 1 49 (* *)
    $ 1 50 (* *)
    $ 1 51 (* Links Accepted: NO Links Generated: NO *)
    $ 1 52 (* *)
    $ 1 53 (* Interrupts Generated After: No interrupts generated *)
    $ 1 54 (* *)
    $ 1 55 (*()()()()()()()()()()()()()()()()()()()()()()()()()()()()()()()() *)
    $ 1 56
    $ 1 57
    $ 1 58 (*++++++++++++++=++++ PARAMETER MACROS +++++++++++++++++++++++++ *)
    $ 1 59
    $ 1 60 %macro HIGH_TIME_SQW prm0'.
    $ 1 61 (*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ *)
    $ 1 62
    $ 1 63
    $ 1 64 (*================================================================ *)
    $ 1 65 (*||||||||||||||||||| MICROCODE STARTS BELOW ||||||||||||||||||| *)
    $ 1 66 (*VVVVVVVVVVVVVVVVVVV--------------------------VVVVVVVVVVVVVVVVVVV *)
    $ 1 67
    $ 1 68
    $ 1 69 (***************************************************************** *)
    $ 1 70 (* *)
    $ 1 71 (* ENTRY name: INIT_SQW *)
    $ 1 72 (* *)
    $ 1 73 (* STATE(S) ENTERED: S1 *)
    $ 1 74 (* *)
    $ 1 75 (* PRELOAD PARAMETER: HIGH_TIME_SWQ *)
    $ 1 76 (* *)
    $ 1 77 (* ENTER WHEN: HSR = %11 *)
    $ 1 78 (* *)
    $ 1 79 (* ACTION: set time base as TCR1, set pin high, and pac to toggle *)
    $ 1 80 (* pin after each match. Write the current time + the *)
    $ 1 81 (* HIGH_TIME to the mer. Negate latches. Enable service *)
    $ 1 82 (* requests. *)
    $ 1 83 (* *)
    $ 1 84 (***************************************************************** *)
    $ 1 85 %entry name = INIT_SQW; start_address *; disable_match;
    $ 1 86 cond hsr1=1,hsr0=1,lsr=x,m/tsr=x,pin=x,flag0=x;
    $ 1 87 ram p <-@HIGH_TIME_SQW.
    $ 1 88
    $ 1 89 chan TBS:= out_m1_c1, (* pin is output, use TCR1 *)
    $ 1 90 PAC:= toggle, (* toggle pin on match *)
    $ 1 91 pin:= high, (* initialize pin as high *)
    +002/BFFF477C 1 92 enable_mtsr. (* enable m/tsr requests *)
    $ 1 93
    $ 1 94 au ert:= tcr1+p; (* write current time + *)
    $ 1 95 chan write_mer, (* high time to mer *)
    $ 1 96 neg_mrl, neg_tdl, neg_lsl; (* negate latches *)
    +003/58583EFE 1 97 end. (* end of S1 *)
    $ 1 98
    $ 1 99 (*************************************************************** *)
    $ 1 100 (* *)
    $ 1 101 (* ENTRY name: MATCHED_SQW *)
    $ 1 102 (* *)
    $ 1 103 (* STATE(S) ENTERED: S2 *)
    $ 1 104 (* *)
    $ 1 105 (* PRELOAD PARAMETER: HIGH_TIME_SWQ *)
    $ 1 106 (* *)
    $ 1 107 (* ENTER WHEN: HSR = %00 m/tsr=1 lsr=X flag0=X pin=X *)
    $ 1 108 (* *)
    $ 1 109 (* ACTION: Write HIGH_TIME_SQW + last match time to mer, neg_mrl. *)
    $ 1 110 (* *)
    $ 1 111 (******************************************************************)
    $ 1 112 %entry name = MATCHED_SQW; start_address *; disable_match;
    $ 1 113 cond hsr1=0,hsr0=0,lsr=x,m/tsr=1,pin=x,flag0=x;
    $ 1 114 ram p <-@HIGH_TIME_SQW.
    $ 1 115
    $ 1 116 au ert:= ert + p; (* write last match time + *)
    $ 1 117 chan write_mer, (* high time to mer *)
    $ 1 118 neg_mrl, neg_tdl, neg_lsl; (* negate latches *)
    +004/5C583EFE 1 119 end. (* end of S2 *)
    $ 1 120
    $ 1 121 (******************************************************************)
    $ 1 122 (* UNUSED STATES *)
    $ 1 123 (******************************************************************)
    $ 1 124
    $ 1 125 %entry name = UNUSED_SQW; start_address END_OF_LINK; disable_match;
    $ 1 126 cond hsr1=0,hsr0=1,lsr=x,m/tsr=x,pin=x,flag0=x.
    $ 1 127
    $ 1 128 %entry name = UNUSED_SQW; start_address END_OF_LINK; disable_match;
    $ 1 129 cond hsr1=1,hsr0=0,lsr=x,m/tsr=x,pin=x,flag0=x.
    $ 1 130
    $ 1 131 %entry name = UNUSED_SQW; start_address END_OF_LINK; disable_match;
    $ 1 132 cond hsr1=0,hsr0=0,lsr=1,m/tsr=0,pin=x,flag0=x.
    $ 12
    $ 13
    $ENTRY TABLE
    $===========
    +1F8/E801E801 UNUSED_SQW UNUSED_SQW
    +1F9/E8010002 UNUSED_SQW INIT_SQW
    +1FA/00040004 MATCHED_SQW MATCHED_SQW
    +1FB/00040004 MATCHED_SQW MATCHED_SQW
    +1FC/E801E801 UNUSED_SQW UNUSED_SQW
    +1FD/E801E801 UNUSED_SQW UNUSED_SQW
    +1FE/00040004 MATCHED_SQW MATCHED_SQW
    +1FF/00040004 MATCHED_SQW MATCHED_SQW
    $
    

    $ROM MAP
    $=======
    $ 0123456789ABCDEF
    $ ----------------
    $00 XXXXX...........
    $01................
    $02................
    $03................
    $04................
    $05................
    $06................
    $07................
    $08................
    $09................
    $0A................
    $0B................
    $0C................
    $0D................
    $0E................
    $0F................
    $10................
    $11................
    $12................
    $13................
    $14................
    $15................
    $16................
    $17................
    $18................
    $19................
    $1A................
    $1B................
    $1C................
    $1D................
    $1E................
    $1F........EEEEEEEE
    $20................
    
    
    
    $====> 5 U_instructions generated
    $====> 8 Entry lines generated
    $====> 13 Total
    $
    $ENTRY TABLE MAP
    $===============
    $180 .. .. .. .. .. .. .. ..
    $188 .. .. .. .. .. .. .. ..
    $190 .. .. .. .. .. .. .. ..
    $198 .. .. .. .. .. .. .. ..
    $1A0 .. .. .. .. .. .. .. ..
    $1A8 .. .. .. .. .. .. .. ..
    $1B0 .. .. .. .. .. .. .. ..
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    $1C0 .. .. .. .. .. .. .. ..
    $1C8 .. .. .. .. .. .. .. ..
    $1D0 .. .. .. .. .. .. .. ..
    $1D8 .. .. .. .. .. .. .. ..
    $1E0 .. .. .. .. .. .. .. ..
    $1E8 .. .. .. .. .. .. .. ..
    $1F0 .. .. .. .. .. .. .. ..
    $1F8 EE EE EE EE EE EE EE EE
    $
    $===> 16 Entries generated
    $
    $LABELS:
    $=======
    $Label Hex dec
    $===== === =====
    $END_OF_LINK 001 0/ 1
    $END_OF_PHASE 000 0/ 0
    $
    $MACROS:
    $=======
    $macro body
    $===== =======
    $HIGH_TIME_SQW PRM0
    $
    $ NO ERRORS
    $ ---------